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diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..000811def313ae2853a609f0c69047f8fdfeab45
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/dataset/meta/randomization_episodes.jsonl
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diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b3b021622208f4db2c048c3da53a9357b723bc4c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/resolved_config.yaml
@@ -0,0 +1,291 @@
+name: fast_2beaker_central_longmix_s06_pslpsl_nbo_00029
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Shake the current contents of
+    beaker a once. Place beaker a at inspection platform. Pick up beaker b from home.
+    Shake the current contents of beaker b once. Place beaker b at home.
+  layout_id: layout_00029
+  reproducibility:
+    enabled: true
+    layout_id: layout_00029
+    action_seed: 6098476093969262866
+    step_seeds:
+    - 4958422072777399816
+    - 1462235376509235589
+    - 5298651874515874446
+    - 83620680969400301
+    - 2709155700873044808
+    - 8371969305485854496
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2946
+      - 0.2946
+      'y':
+      - -0.1205
+      - -0.1205
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2816
+      - 0.2816
+      'y':
+      - -0.0092
+      - -0.0092
+      z:
+      - 0.0
+      - 0.0
+    role: receiver
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.2584
+      - 0.2584
+      'y':
+      - 0.2208
+      - 0.2208
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      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_a
+    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: inspection_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      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: beaker_b
+    target_key: beaker_b_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+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/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_100_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d648ab73ad080e7cb93b284f3e0e501d512ee001
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_100_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3205627236445072,
+              -0.11873776102649425,
+              1.048595585898177
+            ],
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+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.18748901827876618,
+            "gripper_z": 1.0520671642610124,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31625510202542206,
+              -0.12299743887398112,
+              1.0520671642610124
+            ],
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+              0.004259677847486876,
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+            ],
+            "object_to_gripper_xy": 0.006058090406851011,
+            "object_to_gripper_z": -0.0034715783628354036,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3205627236445072,
+              -0.14295718134657265,
+              1.048595585898177
+            ],
+            "finger_b": [
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+              -0.11873776102649425,
+              1.048595585898177
+            ],
+            "finger_midpoint": [
+              0.3153253763434819,
+              -0.13084747118653345,
+              1.048595585898177
+            ],
+            "object_minus_finger_midpoint": [
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+              0.0121097101600392,
+              0.0
+            ],
+            "finger_gap": 0.026387488467962527,
+            "fingertip_max_gap": 0.09638513618275893,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013193744233981263,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048595585898177,
+            "object_top_z": 1.1005148432777057,
+            "finger_top_clearance": 0.05191925737952863,
+            "fingertip_min_top_clearance": 0.01557577721385857,
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+            "object_to_finger_line_xy": 0.009614065074799772,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05069256809137947,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.8140071558994912,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.12269490102557631,
+              1.2423419226638603
+            ],
+            "held_position": [
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+              -0.1185721443119396,
+              1.238839910326593
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007009761039735513,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003502012337267324,
+            "max_held_gripper_z_dist": 0.003523815037077105,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08667198094827118,
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+            "held_motion_ok": true,
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+            "held_grasp_finger_gap": 0.026302486925219904,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02467487857545202,
+            "held_grasp_world_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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+              -0.9999147042870951,
+              -0.008698954863420203
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004313254409391669,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03729644062964144,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "inspection_platform",
+            "object_position": [
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16442458855519215,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671045069190281,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557812828728927,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08644180110659146,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1313857733020204,
+            "release_required_pad_clearance": 0.05322090055329573,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4526144782065555,
+            "object_max_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": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
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+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2734c4103f9e601578327b1c1a248ca98ebaa52df11fe3d55740694acff00c54",
+    "visual_seed": 3787295154722125305,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
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+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_103_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..49f516228bd74ccd02a619100050b5a3fe378c11
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_103_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+              1.04960624645717
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+              0.0,
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+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_a"
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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",
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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",
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+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "passed": true,
+            "source_missing": false,
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_world_z_skew": 0.0,
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "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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+            "source_missing": false,
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+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+                  "b": "/World/beaker_2/mesh"
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+              "ignored": [],
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+    {
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+      "skill": "place",
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+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+            "release_gap_missing_size": false,
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+            "release_required_pad_clearance": 0.055826879650187886,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
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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": 160,
+            "max_placed_release_frames": 160
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/target_plat"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
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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": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
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+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a479d43b95d0c8f6da07a04924f5aacb49079c7547721133bc2440bf1ebd8200",
+    "visual_seed": 6951875029468714722,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_104_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..88972c115946e13778e14691c50993822f472c70
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_104_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 104,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+              1.0494005633591006
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+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
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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",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "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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+              "held_object": "beaker_a",
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+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "link0",
+                "table",
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+            },
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+            "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
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+    {
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+      "reason": "executed",
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+        "checker": {
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+            "release_gap_missing_size": false,
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+            "release_required_pad_clearance": 0.054253593219725574,
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+            "max_z": 0.8774145980897915,
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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 159,
+            "max_placed_release_frames": 159
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
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+                "inspection_platform"
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+              "allowed_object_paths": [
+                "/World/beaker_2",
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
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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": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "70cbc7f206aa96cd3b14bdb6eaf46af987bba0f9262549ddf8e80655b32727da",
+    "visual_seed": 216328120321644733,
+    "episode_index": 104,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_105_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_105_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7168634a4757f2a68029bf828d10e9f87d765588
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_105_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 105,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              -0.12014831095192693,
+              1.0518156331517021
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+            "lift_margin": 0.19070918474158105,
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+              1.0543670240425966
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+              -0.12014831095192693,
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+              0.011730874446930745,
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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": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "disturbances": [],
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+                },
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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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.1250258975999461,
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+            "max_held_gripper_z_dist": 0.002622075916287381,
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+            "held_object_xy_range": 0.08731123681298084,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024365021467176104,
+            "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_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
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+                  "b": "/World/beaker_2/mesh"
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+    {
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+      "skill": "place",
+      "target": "inspection_platform",
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+      "reason": "executed",
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+        "checker": {
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+            "release_gap_missing_size": false,
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+            "release_required_pad_clearance": 0.05522078732588724,
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+            "max_z": 0.8774145980897915,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 161,
+            "max_placed_release_frames": 161
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4c255ca291c7e0358b6d081cb4be13a17a1f9eb2604e1300468d246a7ed3d141",
+    "visual_seed": 384254699764863471,
+    "episode_index": 105,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_106_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_106_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..781503218c09b173598722afd1b9b55dbf73af78
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_106_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 106,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+              1.0501557244814168
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+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.18904927607129574,
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+              0.004243154295248089,
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+              -0.12689578926943917,
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+              0.012120114709847668,
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+            "fingertip_xy_max_dist": 0.055,
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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": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "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",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
+            "passed": true,
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+            "disturbances": [],
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+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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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,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
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+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "link0",
+                "table",
+                "wheel",
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+            },
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+            "passed": true,
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+            "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
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+              "ignored": [],
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+    {
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+      "skill": "place",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "place",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13032839954146727,
+            "release_required_pad_clearance": 0.052628163234251346,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
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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": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3513db4003ed380af956c1d8ea4763a40b0a42667ed00f16ecc3ecf9228429ac",
+    "visual_seed": 7760029464821289051,
+    "episode_index": 106,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_107_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_107_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a6b0f5cc90ef26f71e38e42327349e13d088afb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_107_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 107,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "metrics": {
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+              1.0527946389935758
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+            "lift_margin": 0.19168819058345454,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04942189956314193,
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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": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "disturbances": [],
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+                {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+            "max_held_gripper_z_dist": 0.0029357042504440933,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew": 0.024258444887096522,
+            "held_grasp_world_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": 0.0032538942160625656,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
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+                  "b": "/World/beaker_2/mesh"
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+              "ignored": [],
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_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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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_fingertip_min_gap": 0.09114209183330403,
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+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7d33e3cbb8c43eb93dc5d284d516412c6bb8140269cabfb07c6ead36f2973eb2",
+    "visual_seed": 7403185527151936215,
+    "episode_index": 107,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_109_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_109_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbdd5d6001ad9fda954d3044c66a198cb65b03ee
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_109_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 109,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+              1.0509875662474344
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+            "fingertip_line_xy_max_dist": 0.05050372448372363,
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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": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "max_held_gripper_z_dist": 0.0029190441340369855,
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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_a",
+              "allowed_objects": [
+                "beaker_a"
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+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+            "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
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+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 209,
+            "max_placed_release_frames": 209
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a905f16fd5c50021a44fe1dc8f54300270b39e4e691fa2db2e91bf8dbbc02f0d",
+    "visual_seed": 656592118217957069,
+    "episode_index": 109,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_111_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_111_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3315784dac9006e369500881b52854c8f9f5b915
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_111_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 111,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "target": "beaker_a",
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+            "required_stable_lift_frames": 5
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+          "failure_messages": {},
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+              "allowed_objects": [
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+              "allowed_object_paths": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
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+                "finger",
+                "fr3",
+                "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",
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+                "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_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
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+          "passed": true,
+          "metrics": {
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+            "max_held_gripper_z_dist": 0.002657097113530682,
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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": [],
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+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "table",
+                "wheel",
+                "workbench"
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+                  "b": "/World/beaker_2/mesh"
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+              "ignored": [],
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+    },
+    {
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+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "metrics": {
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+            "release_min_pad_clearance": 0.1780570260089607,
+            "release_required_pad_clearance": 0.05371705660809191,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.442504418680955,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 243,
+            "max_placed_release_frames": 243
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "34d1db754e8d68532deacea153cf507977e350e8bec08758daf9595551a4e7c1",
+    "visual_seed": 7659274477542648179,
+    "episode_index": 111,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_114_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_114_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c7427f5953cd524e3d0e76af1257c1d509897d1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_114_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 114,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "target": "beaker_a",
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+      "reason": "executed",
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+          "metrics": {
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+              -0.11869377131905018,
+              1.049911735043331
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+            "lift_margin": 0.18880522702856484,
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+            "object_upright_reference_source": "scene_initial",
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+            "required_stable_lift_frames": 5
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+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_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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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "max_held_gripper_z_dist": 0.0034740861350008867,
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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": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
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+              "enabled": true
+            },
+            "status": "active",
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+            "forbidden": [],
+            "disturbances": [],
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+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
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+                  "b": "/World/beaker_2/mesh"
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+              "ignored": [],
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+      "physical_semantics": {
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": 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_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09304996212440932,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17909222755899423,
+            "release_required_pad_clearance": 0.05652498106220466,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.409075976523296,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4a05cc1f9313d48cd7d256bfef1deae60eb4fb36b5dde7d17ae4695a16e9f56a",
+    "visual_seed": 664463045414490972,
+    "episode_index": 114,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_116_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_116_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcfd68d08cf410d3f485812c9c9a66cc55a2645e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_116_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 116,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "target": "beaker_a",
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+      "reason": "executed",
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+              1.050688028836178
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+            "stable_success_frames": 210,
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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_object_paths": [
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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",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_projection_between_fingers": 0.5,
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_a",
+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
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+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
+          }
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+            ],
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+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863291744934,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07560158096563198,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08499575590657486,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1857375114955874,
+            "release_required_pad_clearance": 0.05249787795328743,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.06852804014952815,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 248,
+            "max_placed_release_frames": 248
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "780d3d78601ec0f8a52d20183ebd5261e79312739a0810edad716fc25e08b98a",
+    "visual_seed": 6733660467950436357,
+    "episode_index": 116,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_118_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_118_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4eb2316b1647f4c757be518b20e1c5021b1ccdd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_118_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 118,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+            "active_arm": null,
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+              0.32186835510978057,
+              -0.1158394497623295,
+              1.050386461762157
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+            "lift_margin": 0.18928001335203581,
+            "gripper_z": 1.052971306135621,
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+            "gripper_position": [
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+              -0.11996943646560847,
+              1.052971306135621
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+              0.004129986703278965,
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+            "object_to_gripper_z": -0.002584844373463957,
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+              -0.13927289795572215,
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+              -0.1158394497623295,
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+              -0.12755617385902582,
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+              0.011716724096696315,
+              0.0
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04976236701395324,
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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": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "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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+                {
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+                  "b": "/World/beaker_2/mesh"
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+            },
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+          }
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+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
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+            "gripper_position": [
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+            "held_gripper_dist": 0.0061637073729592685,
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+            "max_held_gripper_z_dist": 0.0026554935586227124,
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+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_required": true,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024288937549018584,
+            "held_grasp_world_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_top_clearance": 0.03713002663210863,
+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
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+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2626173762609791,
+              4.99734839911033e-05,
+              0.7565866985197862
+            ],
+            "target_position": [
+              0.2779312214505916,
+              -0.007047774817871564,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.016878740635723196,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20570840256197317,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565866985197862,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576297930045911,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08532264601208171,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1793115025366502,
+            "release_required_pad_clearance": 0.05266132300604086,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.37949051936992306,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 245,
+            "max_placed_release_frames": 245
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 118,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "076aebbf3265783961a00175f1b66f48300941899fbb249aa7949ab3672bd1da",
+    "visual_seed": 5004327721273951776,
+    "episode_index": 118,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_11_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c07ebb61f51cb889401506e88ddcf7cd24f28a2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_11_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3134981065185905,
+              -0.11735018096177566,
+              1.0517354219967308
+            ],
+            "current_z": 1.0517354219967308,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.19062897358660968,
+            "gripper_z": 1.0548111552107546,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.12183000684440477,
+              1.0548111552107546
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+              0.004295359792660436,
+              0.004479825882629115,
+              -0.003075733214023879
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+            "object_to_gripper_xy": 0.006206364127818931,
+            "object_to_gripper_z": -0.003075733214023879,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3134981065185905,
+              -0.14111607903760948,
+              1.0517354219967308
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+            "finger_b": [
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+              -0.11735018096177566,
+              1.0517354219967308
+            ],
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+              0.3078356255168363,
+              -0.12923312999969255,
+              1.0517354219967308
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+            "object_minus_finger_midpoint": [
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+              0.011882949037916896,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.8149475965915391,
+            "object_to_finger_line_xy": 0.010223546937518058,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05093467198261557,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2916002639504267,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31340899857754867,
+              -0.12203913886728698,
+              1.2482234641252388
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+            "held_position": [
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+              -0.11791029406398737,
+              1.2451059273819434
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+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006956260645273872,
+            "max_held_gripper_dist": 0.006965440204119791,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031175367432954015,
+            "max_held_gripper_z_dist": 0.0031289087473886923,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08692563356182086,
+            "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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+              -0.14290695862916505,
+              1.2451059273819434
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+              -0.11791029406398737,
+              1.2451059273819434
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+            "held_grasp_midpoint": [
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+              -0.1304086263465762,
+              1.2451059273819434
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+            "held_grasp_object_position": [
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+              -0.11791029406398737,
+              1.2451059273819434
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+            "held_grasp_finger_gap": 0.026495596944478218,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02424056444854725,
+            "held_grasp_world_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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+              -0.9969570955889396,
+              0.009217479055294131
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003414084845136899,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03691993019005818,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2651091249793224,
+              -0.0016425658891656356,
+              0.7565866296062715
+            ],
+            "target_position": [
+              0.2812271448100254,
+              -0.009408426581616683,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0178913150874242,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20457690115579547,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565866296062715,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552611015191214,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0890737696160717,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17840642758880262,
+            "release_required_pad_clearance": 0.054536884808035854,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.105615212533142,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 245,
+            "max_placed_release_frames": 245
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "43f68fa47b93dc06d988789308052cef93128ba8c59f8ba2f277070c472c9533",
+    "visual_seed": 8950815674973784356,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_122_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_122_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc90dde06d003b029f260182efbbc6a2f27d2d05
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_122_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 122,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.31920748659737497,
+              -0.11382157651662646,
+              1.0502871931602709
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+            "current_z": 1.0502871931602709,
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+            "lift_margin": 0.18918068514550468,
+            "gripper_z": 1.0532927166537365,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.11820167706400952,
+              1.0532927166537365
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+              0.004380100547383067,
+              -0.0030055234934656117
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+            "object_to_gripper_z": -0.0030055234934656117,
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+              0.31920748659737497,
+              -0.13774280215702248,
+              1.0502871931602709
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+              -0.11382157651662646,
+              1.0502871931602709
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+              0.31370546650672687,
+              -0.12578218933682447,
+              1.0502871931602709
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+              0.011960612820198016,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.00999702159177859,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05073450983080878,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.346454836962687,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              1.2461736698111234
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+            "held_position": [
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+              -0.11467665046913582,
+              1.2431109882966962
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+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00683990929912263,
+            "max_held_gripper_dist": 0.006849283748973258,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0030626815144272346,
+            "max_held_gripper_z_dist": 0.003072233367436006,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08707515175354251,
+            "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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+            "held_grasp_midpoint": [
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+              -0.12721893740233406,
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+            "held_grasp_object_position": [
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+              -0.11467665046913582,
+              1.2431109882966962
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+            "held_grasp_finger_gap": 0.02649153574235909,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024512000272007034,
+            "held_grasp_world_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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+              -0.9980911001931683,
+              0.004512057019685379
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034791284732115816,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
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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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25967349091554864,
+              -0.0021405142806170925,
+              0.7565865169666981
+            ],
+            "target_position": [
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+              -0.006078777300349759,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.022918432440966478,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20106569555071163,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865169666981,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519811590143817,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08838724324917942,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17542865357256768,
+            "release_required_pad_clearance": 0.05419362162458971,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.403377731694581,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 245,
+            "max_placed_release_frames": 245
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d554a26f4a86fbe69b88c0b62cb94c9814c48f3ea74d432af680ccea80b6b16c",
+    "visual_seed": 7278441115419451939,
+    "episode_index": 122,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_123_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_123_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c48cc5896d82c497a8b478152baa878df5c668d4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_123_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 123,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
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+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+            "object_position": [
+              0.31513918005085784,
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+              1.0514414577084183
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+              -0.12147912902575257,
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+              1.0514414577084183
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+              0.011876012973767086,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049350115151792315,
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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": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+          }
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+      },
+      "physical_semantics": {
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              1.246475400621544
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+            "held_shake_count": 5,
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+            "max_held_gripper_dist": 0.00657882536824374,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002734773124234424,
+            "max_held_gripper_z_dist": 0.0027423622961104677,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08641262571338974,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
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+              1.2437406274973095
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+              -0.13085574517096993,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024332242805285783,
+            "held_grasp_world_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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+              -0.9968749481721327,
+              -0.01203014699808325
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003175037332325612,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
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+      "skill": "place",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "target": "beaker_b",
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+            "target": "beaker_b",
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+            "placed_release_frames": 247,
+            "max_placed_release_frames": 247
+          },
+          "failed_keys": [],
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+          "failure_messages": {},
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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_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
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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": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 123,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
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+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
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+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e07f737c715d2ffa1752ed09cf6b2d38c9bbb39ef5221ef76ff6170be5c3f15e",
+    "visual_seed": 5924078963086519503,
+    "episode_index": 123,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
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+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_124_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_124_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..daadf124e40644f6a994560627df12f10849eb21
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_124_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 124,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+          "failure_messages": {},
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+              "robot_prim_substrings": [
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
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+                "fr3",
+                "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",
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+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
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+      "reason": "executed",
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+        "checker": {
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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_a",
+              "held_object": "beaker_a",
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+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
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+                "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": {
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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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
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+              -0.006003694859484019,
+              0.7565863927882945
+            ],
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+              -0.009959507079912625,
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+            "object_z": 0.7565863927882945,
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_min_pad_clearance": 0.18727964375681747,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.057885089984287,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 249,
+            "max_placed_release_frames": 249
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
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+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7b6e1efed5a995a8950f83404b356cac0338ff83522eb02cb6804c617b2cfd37",
+    "visual_seed": 4625541015058642031,
+    "episode_index": 124,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_128_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_128_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cbde6e25c37bfbef6e4f3cded93d575d6ad8aa5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_128_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 128,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+            "required_stable_lift_frames": 5
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+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
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+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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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_a",
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+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "max_held_gripper_z_dist": 0.0036488020851626057,
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+            "held_grasp_size_source": "beaker_a_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_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_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
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+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
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+              -0.00531423571078367,
+              0.756587268494116
+            ],
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+              -0.00967813388969694,
+              0.7730800627579277
+            ],
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+            "xy_dist": 0.015114182862325833,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20452979518149383,
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+            "gripper_away_ok": true,
+            "object_z": 0.756587268494116,
+            "min_z": 0.5730800627579278,
+            "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_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17738880199780604,
+            "release_required_pad_clearance": 0.05331111388849326,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6356171431411028,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 243,
+            "max_placed_release_frames": 243
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d60e45fc5fa287cefbed495347705e28a40752c51155df71581976712fbefda5",
+    "visual_seed": 1211442563698362499,
+    "episode_index": 128,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_129_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_129_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..733dc0ae24b3b6d10e6ed084fb8cb8f2c828038d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_129_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 129,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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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_a"
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+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
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+            "max_held_gripper_z_dist": 0.00264595866394135,
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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": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
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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": [
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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",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
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+              -0.011289544388144035,
+              0.7565878887579185
+            ],
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_fingertip_min_gap": 0.09375988175589796,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17864147966630475,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 9.238970038694008,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 247,
+            "max_placed_release_frames": 247
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 129,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "702a3d6c51ac20388ea93e271e1421ecdcbefccd80b342e781320317ab014f1e",
+    "visual_seed": 5859366503361806766,
+    "episode_index": 129,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_12_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..81ed8bfbd39ecc964f9f2a3b5ab48b17ba56485b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_12_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+          "failure_messages": {},
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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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,
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+    {
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+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
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+          "target": "beaker_a",
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+          "metrics": {
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+            "held_grasp_z_skew_max": 0.08,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
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+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.26808203021633314,
+              -0.018064225756356113,
+              0.7565872002853441
+            ],
+            "target_position": [
+              0.2800457415074466,
+              -0.01369644914934481,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.012736084969325179,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20592933115478645,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565872002853441,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572815649909873,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09207722357166225,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17668740825241372,
+            "release_required_pad_clearance": 0.056038611785831124,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 7.320068599793228,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b37bbb874cbb6181a35ad5d94b20ac82c7c25abc07a25ca939d5a3f5deae6316",
+    "visual_seed": 4838756769599089838,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_13_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0d4493c6b3f9ea0d870919b1a07b03600810f5b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_13_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+            "required_stable_lift_frames": 5
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+            "disturbances": [],
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+            },
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "max_held_gripper_z_dist": 0.0027258702095285248,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003254031346313106,
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+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2879870354031847,
+              -0.009948764329299085,
+              0.7565865687996707
+            ],
+            "target_position": [
+              0.28579535706056625,
+              -0.013350272322945476,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.004046444190686819,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2158819978637139,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865687996707,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584407854503328,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09004124661923128,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1867229687248223,
+            "release_required_pad_clearance": 0.05502062330961564,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.116675315453991,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 246,
+            "max_placed_release_frames": 246
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c3394c98fda188a326494a87a9e2586839c7a52ca2f4ee4cb945da297fd11f6e",
+    "visual_seed": 2096531401702381735,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_14_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..610c33ecfe0621f0effeef92c7438bffab107081
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_14_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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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": 209,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+            },
+            "failed_keys": []
+          }
+        },
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "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": 0.006424493542053067,
+            "max_held_gripper_dist": 0.0064333553101640776,
+            "held_gripper_max_dist": 0.15,
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+            "max_held_gripper_z_dist": 0.002645691046630816,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08704044593107196,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
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+            "held_grasp_finger_gap": 0.02626735605165626,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02429393139152334,
+            "held_grasp_world_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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+              -0.9975656298023298,
+              -0.0190831647660592
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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/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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2599399475064672,
+              -0.005915157013837952,
+              0.7565869659515089
+            ],
+            "target_position": [
+              0.2785533246803397,
+              -0.008547069772751659,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.01879853118164744,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20259862792338482,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565869659515089,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581247409110516,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09103543679841343,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1752250088670986,
+            "release_required_pad_clearance": 0.05551771839920672,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.179936483992785,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 241,
+            "max_placed_release_frames": 241
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "06b41801ba71d580d1a20ca7a88814f5dc249e9bca60c09b21a9460c8f72fa6c",
+    "visual_seed": 2248091472323446443,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_16_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..91fedc93510f1b8bb0cde3def67d13648e9d718b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_16_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+              -0.12103821436986793,
+              1.0524051802320593
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+              -0.12529305728204831,
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+              -0.14468529858103227,
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+              -0.12103821436986793,
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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": 212,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
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+            "gripper_position": [
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006490992247476879,
+            "max_held_gripper_dist": 0.0065008184633288625,
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+            "held_gripper_z_dist": 0.002849659192288856,
+            "max_held_gripper_z_dist": 0.002861577034782181,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08714311479111841,
+            "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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+              -0.147187654464709,
+              1.2457827357170168
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+              -0.13467801740162455,
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+            "held_grasp_object_position": [
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+              -0.12225291445973879,
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+            "held_grasp_finger_gap": 0.026338516076221244,
+            "held_grasp_max_gap": 0.1249237185716629,
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+          "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
+            },
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+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2630205780806977,
+              -0.004890725365768046,
+              0.7565862901040217
+            ],
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+              -0.011101157226818268,
+              0.7730800627579277
+            ],
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20534369938866245,
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+            "gripper_away_ok": true,
+            "object_z": 0.7565862901040217,
+            "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": 0.07545085589484668,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "release_gap_missing_size": false,
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+            "release_required_pad_clearance": 0.05324847046011473,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5153945513018678,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 247,
+            "max_placed_release_frames": 247
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0b03f1ae5d5c91a123850655d0c7f6fb5970b1c86c28d421c11d444bfeb5b1be",
+    "visual_seed": 2040387686541119973,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_18_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..598fc117332fb83a9dcddedf6bdbe1d87f1ad8a7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_18_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+            "disturbances": [],
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+                {
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+            "failed_keys": []
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+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
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+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
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+            "held_shake_count": 5,
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+            "max_held_gripper_z_dist": 0.003230807818556114,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.086839424688845,
+            "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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+              -0.11775187677595883,
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+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03222803452690992,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
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+          "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2615441946892822,
+              -0.0005437359245872879,
+              0.7565869812895829
+            ],
+            "target_position": [
+              0.2792949897725362,
+              -0.006729534625197607,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.018797734747893074,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20445330473684242,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565869812895829,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754878551309088,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09259027774052654,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.178150167609379,
+            "release_required_pad_clearance": 0.05629513887026327,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 7.894293074215812,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 250,
+            "max_placed_release_frames": 250
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9f5f5858c19183d7220c43138787a3cd88b03a7283be3133bbf834b6af216748",
+    "visual_seed": 4934125704363206534,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_1_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a56bb63c5cdce03f8730895a8a44effa3abbb926
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_1_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+              1.0514780706500724
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+              -0.12363076268313478,
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+            "object_upright_reference_source": "scene_initial",
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+            "required_stable_lift_frames": 5
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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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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+            "forbidden": [],
+            "disturbances": [],
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+                },
+                {
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+            },
+            "failed_keys": []
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+        },
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
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+            "gripper_position": [
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006869656027874365,
+            "max_held_gripper_dist": 0.006884040361907487,
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+            "held_gripper_z_dist": 0.0030399087405037495,
+            "max_held_gripper_z_dist": 0.0030512572120615644,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0866083858696365,
+            "held_object_min_xy_range": 0.04,
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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": [
+              -0.06880806329540165,
+              -0.9975785246084883,
+              0.010126088360657759
+            ],
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+            "held_grasp_object_to_finger_line_xy": 0.0035324501950410128,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03229274139316619,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2679156595317671,
+              -0.005570574866782491,
+              0.7565897382296451
+            ],
+            "target_position": [
+              0.2808452359116542,
+              -0.010575396957559257,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.013864421716164798,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20706723865348012,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565897382296451,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566351129620111,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08951331960180138,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17964897235794497,
+            "release_required_pad_clearance": 0.05475665980090069,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.558831175627359,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 245,
+            "max_placed_release_frames": 245
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8401371d310e10923e450f94c00876bb288c626fc1eee0dcfe795e5669ec16c8",
+    "visual_seed": 4450113382810540597,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_20_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..266842beb5e5a90d4fef8033b5074a191f7a1502
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_20_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              -0.11776809297740887,
+              1.052421310369569
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+              -0.12213379925404595,
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+            "object_to_gripper_z": -0.0031723861900723183,
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+              -0.141723304949061,
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+              -0.11776809297740887,
+              1.052421310369569
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+              -0.12974569896323493,
+              1.052421310369569
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+              0.011977605985826062,
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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": 211,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.12227071232121922,
+              1.2484823692334646
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+            "held_position": [
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+              -0.11816132296494979,
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+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
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+              1.2386145171146279
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+              0.0005681919058726998,
+              1.2386145171146279
+            ],
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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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+              -0.9972661939142663,
+              -0.0004826997866245185
+            ],
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032090494050913576,
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+          },
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+          "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2690001707682661,
+              0.00028257113709814156,
+              0.7565859158301114
+            ],
+            "target_position": [
+              0.2825122020792676,
+              -0.004721909016262733,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.014409018417465756,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2043368681520341,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565859158301114,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075663391056368,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08827303819370465,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17732542383034725,
+            "release_required_pad_clearance": 0.054136519096852326,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.2804003215393633,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 243,
+            "max_placed_release_frames": 243
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4d51b323ea701bbcf53ebec6f8c470d4c523421333dac4d998455a795b9ab0fa",
+    "visual_seed": 45973541177732477,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_21_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a44bcf6d6d41619c94b1202919f949201e46a30
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_21_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              1.052115236774819
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+              -0.13009984430910415,
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+              0.0,
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+            "stable_success_frames": 211,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.12347484300840494,
+              1.2460152308875574
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+            "held_position": [
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+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3073475091682783,
+              -0.03307638525450287,
+              1.2385135248741805
+            ],
+            "held_grasp_finger_b": [
+              0.2984766172507645,
+              -0.00762996669757418,
+              1.2385135248741805
+            ],
+            "held_grasp_midpoint": [
+              0.3029120632095214,
+              -0.020353175976038525,
+              1.2385135248741805
+            ],
+            "held_grasp_object_position": [
+              0.3073475091682783,
+              -0.007640622151655566,
+              1.2385135248741805
+            ],
+            "held_grasp_finger_gap": 0.02694833836782179,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02472512828553851,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07351122319956585,
+              -0.9972813401812192,
+              0.005101822228890774
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034895482672106085,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032196177192840465,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2744764611972492,
+              -0.009461659931057945,
+              0.7565864855446643
+            ],
+            "target_position": [
+              0.2777203227646465,
+              -0.01145400294236238,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.003806844959166396,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21216635210165705,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864855446643,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552023948050478,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.087199152335676,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1835533134778166,
+            "release_required_pad_clearance": 0.053599576167838,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2092886219598653,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 208,
+            "max_placed_release_frames": 208
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "efd6cf4ac1478c3bf0702a4ec61afdeb5398aea4877507631d0264575fb7e7fb",
+    "visual_seed": 2289094924089732294,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_23_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0505fdc797f8c8beea9dbccb82e4c1e279dc3472
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_23_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              -0.12021021375022872,
+              1.0501915423563921
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+            "lift_margin": 0.18908503434162627,
+            "gripper_z": 1.0531425566671087,
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+              -0.12467019722032825,
+              1.0531425566671087
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+              0.0044599834700995294,
+              -0.0029510143107165376
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+            "object_to_gripper_z": -0.0029510143107165376,
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+              0.31548321620965664,
+              -0.1441224103939032,
+              1.0501915423563921
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+              -0.12021021375022872,
+              1.0501915423563921
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+            "finger_midpoint": [
+              0.3098915668861908,
+              -0.13216631207206597,
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+              0.01195609832183725,
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+            "object_position_origin": "center",
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+            "fingertip_min_top_clearance": 0.015237811350896018,
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+            "object_to_finger_line_xy": 0.010130172501890494,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04902746658227873,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2681388167764658,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
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+            "held_gripper_z_dist": 0.00332054171773688,
+            "max_held_gripper_z_dist": 0.003321229651564117,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08658266835460093,
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+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              -0.03008073685920883,
+              1.2359237842945088
+            ],
+            "held_grasp_finger_b": [
+              0.30160217593087807,
+              -0.004491184852944995,
+              1.2359237842945088
+            ],
+            "held_grasp_midpoint": [
+              0.30636084758958115,
+              -0.017285960856076914,
+              1.2359237842945088
+            ],
+            "held_grasp_object_position": [
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+              -0.004491184852944995,
+              1.2359237842945088
+            ],
+            "held_grasp_finger_gap": 0.027302106067163687,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.057755999051966114,
+              -0.998294457154295,
+              0.008510075705949749
+            ],
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+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03215242916554473,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2707679468389279,
+              0.007845276098041986,
+              0.7565876939394724
+            ],
+            "target_position": [
+              0.28127765647508624,
+              -0.007944623028847374,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.018967733419512744,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20632984041129918,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565876939394724,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08054894377613454,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08606305209135436,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18116472087009863,
+            "release_required_pad_clearance": 0.05303152604567718,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0921602333476712,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 243,
+            "max_placed_release_frames": 243
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4005495bdf355dc49efb17642296fbd7daef928d9d35385a011596b0323040ab",
+    "visual_seed": 3512478714677592991,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_24_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..82838cb778e28a0df48fc759fe4938642b6c5755
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_24_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3179945024415861,
+              -0.11591588747461233,
+              1.0525019766779051
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+            "lift_margin": 0.19139546866313895,
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+              -0.12015944171078131,
+              1.0554106368080773
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+              0.004243554236168984,
+              -0.0029086601301722137
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+            "fingertip_source": "active_contact_pad_positions",
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+              0.3179945024415861,
+              -0.13956656640092513,
+              1.0525019766779051
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+              -0.11591588747461233,
+              1.0525019766779051
+            ],
+            "finger_midpoint": [
+              0.31256438858380786,
+              -0.12774122693776874,
+              1.0525019766779051
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011825339463156406,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "fingertip_min_top_clearance": 0.015378064792723677,
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+            "object_to_finger_line_xy": 0.00986943464391108,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04958778583146524,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7180655971197059,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
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+            "held_gripper_z_dist": 0.003142091150325932,
+            "max_held_gripper_z_dist": 0.0031432375973889926,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08652601615186284,
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+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              -0.034638726895129784,
+              1.237933952198226
+            ],
+            "held_grasp_finger_b": [
+              0.30195277990113445,
+              -0.009135376669196383,
+              1.237933952198226
+            ],
+            "held_grasp_midpoint": [
+              0.3064826305805956,
+              -0.021887051782163082,
+              1.237933952198226
+            ],
+            "held_grasp_object_position": [
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+              -0.009135376669196383,
+              1.237933952198226
+            ],
+            "held_grasp_finger_gap": 0.0270647198666359,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02477345633743324,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07292735487157427,
+              -0.9972868728282926,
+              0.010024679336532281
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
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+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03215279674106154,
+            "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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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.26863562692713494,
+              -0.010887557584181671,
+              0.7565864823734584
+            ],
+            "target_position": [
+              0.28126672707001865,
+              -0.011670256766055025,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.012655327290467921,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2061611102000567,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864823734584,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549742057804029,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08605265470242858,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17819554239884244,
+            "release_required_pad_clearance": 0.05302632735121429,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0842495845163174,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 241,
+            "max_placed_release_frames": 241
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "95560f71d0cebe4b4ba7ec0a6a1e696af92e44f3a0461e96982b55ab8c6591a9",
+    "visual_seed": 1791860003661409984,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_26_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4906679921ed5ecb131b63aeb959701eaeb67a84
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_26_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              -0.11571107263651587,
+              1.0526298766517594
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+            "lift_margin": 0.19152336863699349,
+            "gripper_z": 1.055659064178952,
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+              -0.11997532235583686,
+              1.055659064178952
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+            "object_to_gripper_z": -0.0030291875271926116,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.314508963424984,
+              -0.13949447050445304,
+              1.0526298766517594
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+              -0.11571107263651587,
+              1.0526298766517594
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+            "finger_midpoint": [
+              0.30910119986024276,
+              -0.12760277157048444,
+              1.0526298766517594
+            ],
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+              0.011891698933968575,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "fingertip_min_top_clearance": 0.01534916530435837,
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+            "object_to_finger_line_xy": 0.009845330359319057,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05010262515283721,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.8118811077106542,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
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+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3039732727066446,
+              -0.006846395425710264,
+              1.2434734529333187
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+            "held_position": [
+              0.3087245426661614,
+              -0.0028054908360008136,
+              1.24040877020325
+            ],
+            "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": 0.006949514829635431,
+            "max_held_gripper_dist": 0.006950658210132016,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0030646827300686574,
+            "max_held_gripper_z_dist": 0.00306477644885228,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08655540549179602,
+            "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": [
+              0.3087245426661614,
+              -0.02823222639015428,
+              1.24040877020325
+            ],
+            "held_grasp_finger_b": [
+              0.300023722355028,
+              -0.0025506231550861506,
+              1.24040877020325
+            ],
+            "held_grasp_midpoint": [
+              0.3043741325105947,
+              -0.015391424772620215,
+              1.24040877020325
+            ],
+            "held_grasp_object_position": [
+              0.3087245426661614,
+              -0.0028054908360008136,
+              1.24040877020325
+            ],
+            "held_grasp_finger_gap": 0.027115475633115737,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024921322941617894,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07821998009880074,
+              -0.996896521562902,
+              0.00888594447034019
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003354524948766639,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03231306220798437,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.27469174435903904,
+              -0.003132964981160378,
+              0.7565863567384975
+            ],
+            "target_position": [
+              0.2791427071749976,
+              -0.004550422232929869,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.004671215585866259,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21167778548949884,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863567384975,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752675610977926,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08659437467939653,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18365912172089044,
+            "release_required_pad_clearance": 0.053297187339698265,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6120008597356184,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 253,
+            "max_placed_release_frames": 253
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d78cbf4e3948ce9be95cc1e16bf2b9f471c51682c44da8114e13e42be2acfe06",
+    "visual_seed": 7947185459213096458,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_27_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a407e35b7cd525cd603d3b91d71ebd7164c3d23
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_27_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.32063509359708375,
+              -0.11457545728980952,
+              1.050519554836769
+            ],
+            "current_z": 1.050519554836769,
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+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.1894129872173581,
+            "gripper_z": 1.053379174417145,
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+            "gripper_position": [
+              0.31622196208063513,
+              -0.11898853287568288,
+              1.053379174417145
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+              0.004413131516448621,
+              0.004413075585873366,
+              -0.0028596195803760605
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+            "object_to_gripper_xy": 0.006241070894334053,
+            "object_to_gripper_z": -0.0028596195803760605,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32063509359708375,
+              -0.13866482197135324,
+              1.050519554836769
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+            "finger_b": [
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+              -0.11457545728980952,
+              1.050519554836769
+            ],
+            "finger_midpoint": [
+              0.31515332718238054,
+              -0.12662013963058139,
+              1.050519554836769
+            ],
+            "object_minus_finger_midpoint": [
+              0.005481766414703215,
+              0.01204468234077187,
+              0.0
+            ],
+            "finger_gap": 0.02646689522520308,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050519554836769,
+            "object_top_z": 1.1018475567649633,
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+            "fingertip_min_top_clearance": 0.015398400578458326,
+            "object_projection_between_fingers": 0.8284087861299096,
+            "object_to_finger_line_xy": 0.009978674804068227,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049847341765735756,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.016901970340751,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3059990780444508,
+              -0.0076423757944784065,
+              1.2410689927715945
+            ],
+            "held_position": [
+              0.3110332740556353,
+              -0.003452282767336147,
+              1.2380289408386844
+            ],
+            "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": 0.0072209365604416305,
+            "max_held_gripper_dist": 0.007222777449959322,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003040051932910126,
+            "max_held_gripper_z_dist": 0.0030402341739883543,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08704777294321231,
+            "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": [
+              0.3110332740556353,
+              -0.029013458696703708,
+              1.2380289408386844
+            ],
+            "held_grasp_finger_b": [
+              0.3021655705001893,
+              -0.003299047311196379,
+              1.2380289408386844
+            ],
+            "held_grasp_midpoint": [
+              0.30659942227791226,
+              -0.016156253003950044,
+              1.2380289408386844
+            ],
+            "held_grasp_object_position": [
+              0.3110332740556353,
+              -0.003452282767336147,
+              1.2380289408386844
+            ],
+            "held_grasp_finger_gap": 0.02720049851106371,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025060195944739558,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06717400978110714,
+              -0.9977236019708672,
+              -0.005938558765106405
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035712759944288197,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03222733441932092,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2694093855835924,
+              -0.002545006926256206,
+              0.7565862304952442
+            ],
+            "target_position": [
+              0.28111013526962264,
+              -0.008629355117956742,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.013188132397461985,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20875017137142726,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565862304952442,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07560292428449968,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09299543801843445,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18167359524008148,
+            "release_required_pad_clearance": 0.056497719009217226,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.359090415610778,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 247,
+            "max_placed_release_frames": 247
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b6ddf934e7ab31fe9cd0fd96381c1f718340e07d4a1b792f6d93a78f5419e0c3",
+    "visual_seed": 6343279034909527753,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_30_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f00f01401153fe836ff93f847ecfffca12fec253
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_30_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31565975277875746,
+              -0.11793703791376865,
+              1.0489410079918686
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+            "current_z": 1.0489410079918686,
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+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.18783449997710266,
+            "gripper_z": 1.0519678748005388,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3115031202499562,
+              -0.12222844630607065,
+              1.0519678748005388
+            ],
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+              0.004156632528801274,
+              0.004291408392301993,
+              -0.003026866808670148
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+            "object_to_gripper_xy": 0.005974427166600062,
+            "object_to_gripper_z": -0.003026866808670148,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31565975277875746,
+              -0.14178520513372647,
+              1.0489410079918686
+            ],
+            "finger_b": [
+              0.30481768899080286,
+              -0.11793703791376865,
+              1.0489410079918686
+            ],
+            "finger_midpoint": [
+              0.31023872088478016,
+              -0.12986112152374757,
+              1.0489410079918686
+            ],
+            "object_minus_finger_midpoint": [
+              0.005421031893977302,
+              0.011924083609978917,
+              0.0
+            ],
+            "finger_gap": 0.026197049966229922,
+            "fingertip_max_gap": 0.09734751504175368,
+            "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": 1.0489410079918686,
+            "object_top_z": 1.1014208740831153,
+            "finger_top_clearance": 0.05247986609124666,
+            "fingertip_min_top_clearance": 0.015743959827374032,
+            "object_projection_between_fingers": 0.8287150760181778,
+            "object_to_finger_line_xy": 0.009869941484170917,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05117375752087684,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.022558416598341,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
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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": 4,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3022647062751427,
+              -0.01292981108911484,
+              1.2402987387368616
+            ],
+            "held_position": [
+              0.30737526505512613,
+              -0.008643882073672081,
+              1.2369133234288507
+            ],
+            "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": 0.007479841935281404,
+            "max_held_gripper_dist": 0.007482090808489318,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003385415308010842,
+            "max_held_gripper_z_dist": 0.003386706007183049,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08689664708387893,
+            "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": [
+              0.30737526505512613,
+              -0.034108856243699755,
+              1.2369133234288507
+            ],
+            "held_grasp_finger_b": [
+              0.2980804338132904,
+              -0.008643882073672081,
+              1.2369133234288507
+            ],
+            "held_grasp_midpoint": [
+              0.3027278494342083,
+              -0.021376369158685918,
+              1.2369133234288507
+            ],
+            "held_grasp_object_position": [
+              0.30737526505512613,
+              -0.008643882073672081,
+              1.2369133234288507
+            ],
+            "held_grasp_finger_gap": 0.027108279128236486,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025157259759028335,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03139891056109612,
+              -0.999376915285658,
+              0.016121092075271792
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042503540347225725,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032329747511453726,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2633116507094572,
+              -0.009346577934268577,
+              0.7565868358983038
+            ],
+            "target_position": [
+              0.277842055406743,
+              -0.013052989456723695,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.014995670943332037,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20503592143897334,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565868358983038,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07560879690291833,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0913656063345465,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17800699807878556,
+            "release_required_pad_clearance": 0.055682803167273254,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.538883396910619,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 245,
+            "max_placed_release_frames": 245
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fcf91bf92bdeec15f1038675d962228ed8c7d5d5e2a37fa080c0cd39238e224f",
+    "visual_seed": 4282863724526053977,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_32_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..965b58c82453da8320eac82b86bf40cdb57c38b8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_32_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.31589203412707245,
+              -0.12144820738003656,
+              1.051635834803077
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+            "lift_margin": 0.1905293863929558,
+            "gripper_z": 1.0542624674865344,
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+            "virtual_attach_allowed": false,
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+              0.31184542016656225,
+              -0.12569361244248223,
+              1.0542624674865344
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+              0.004245405062445667,
+              -0.0026266326834574194
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+            "object_to_gripper_z": -0.0026266326834574194,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.31589203412707245,
+              -0.1452426921330491,
+              1.051635834803077
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+              -0.12144820738003656,
+              1.051635834803077
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+            "finger_midpoint": [
+              0.3105212703711746,
+              -0.13334544975654283,
+              1.051635834803077
+            ],
+            "object_minus_finger_midpoint": [
+              0.005370763755897845,
+              0.011897242376506273,
+              0.0
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+            "fingertip_max_gap": 0.09296358649445749,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.051635834803077,
+            "object_top_z": 1.1019987241190776,
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+            "fingertip_min_top_clearance": 0.015108866794800157,
+            "object_projection_between_fingers": 0.8307107727043295,
+            "object_to_finger_line_xy": 0.009790186529188814,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04898179324722875,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7142077615170852,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
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+            },
+            "failed_keys": []
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+        "post_done_wait_frames": 0,
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+      },
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+        "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": {
+            "held": "beaker_b",
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+            "max_held_gripper_z_dist": 0.0030916036082426768,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31278307703056923,
+              -0.03727202346582745,
+              1.2379305848683742
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+              0.3039911295356817,
+              -0.0118518284198988,
+              1.2379305848683742
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+              -0.024561925942863123,
+              1.2379305848683742
+            ],
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+              0.31278307703056923,
+              -0.011894702364402933,
+              1.2379305848683742
+            ],
+            "held_grasp_finger_gap": 0.026897670102183847,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08077415462228191,
+              -0.9964656931617564,
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+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03222269017907398,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.28064322044054474,
+              -0.017938997586347517,
+              0.7565869260159896
+            ],
+            "target_position": [
+              0.28341904080406927,
+              -0.013918818879732097,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.004885387960406161,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2130049342795502,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565869260159896,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551785482827292,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08852744974204639,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1831646151488803,
+            "release_required_pad_clearance": 0.0542637248710232,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.542007644648871,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 204,
+            "max_placed_release_frames": 204
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0506f00a8db7951756997370f5d365b763ae1978723706b2f1dc7a307fa3ecf9",
+    "visual_seed": 2237723120798068514,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_33_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..85c545d22984e8e1e70c8ce9e6bbfb5a9ffa0b64
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_33_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
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+          "metrics": {
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+              1.0525169511895145
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+            "lift_margin": 0.1914105027793933,
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+              -0.1194037669262033,
+              1.0561493082926527
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+              0.004382243708868083,
+              -0.0036323571031382507
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+            "object_to_gripper_z": -0.0036323571031382507,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31394659222373056,
+              -0.13918550215661643,
+              1.0525169511895145
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+            "finger_b": [
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+              -0.11502152321733522,
+              1.0525169511895145
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+            "finger_midpoint": [
+              0.3085463855993422,
+              -0.12710351268697584,
+              1.0525169511895145
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+              0.005400206624388337,
+              0.01208198946964062,
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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": 0.8334887468027488,
+            "object_to_finger_line_xy": 0.009860302603603975,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05106725569089755,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.3127883656837347,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
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+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+          }
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+      },
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+        "ordinary_object_physical_only": true
+      }
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              -0.006549938787606289,
+              1.2394636423516405
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+              1.2394636423516405
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+              1.2394636423516405
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+              -0.04646265873679251,
+              -0.9988489966152118,
+              0.011912317318354512
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+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03228785097597998,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2823514926691452,
+              -0.006348626140963312,
+              0.7565898161189807
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+              -0.01083449233600964,
+              0.7730800627579277
+            ],
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+            "xy_dist": 0.004670591976962514,
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+            "gripper_dist": 0.21452769121874665,
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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": 0.07569271056541059,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09278868006100356,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18582787233336706,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.11988533188055,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 252,
+            "max_placed_release_frames": 252
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d813038f10df20594a13d26009f47c46f463b1b46dfc9fa08ff2d7aa42dc5256",
+    "visual_seed": 7983323982212610750,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_36_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0018b595c2804f0552376a09bba9dba961f90ac
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_36_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+              1.0513141487867
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+            "object_to_gripper_z": -0.0028195571081641724,
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+              -0.13633476399767544,
+              1.0513141487867
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+              1.0513141487867
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+              -0.12433864768414121,
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+              0.011996116313534227,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.009922645830971483,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05031961583432766,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.182257271364971,
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+              0.0,
+              1.0
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+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
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+                "base_link",
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+                "ground",
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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",
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+        "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": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
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+            "effective_shake_count": 5,
+            "min_shake_count": 3,
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+            "held_gripper_z_dist": 0.003158840334060775,
+            "max_held_gripper_z_dist": 0.0031593143231865017,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              -0.02572910811966112,
+              1.2378557681199434
+            ],
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+              0.3045268053082141,
+              -0.00018155496629061437,
+              1.2378557681199434
+            ],
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+              -0.012955331542975866,
+              1.2378557681199434
+            ],
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+              -0.00029488897322942423,
+              1.2378557681199434
+            ],
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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": 0.0247739252195687,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
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+            "held_grasp_local_up_axis": [
+              -0.07833164466974278,
+              -0.9965862302848458,
+              0.026077558359123065
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+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03223979499621411,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2712019090063017,
+              1.24708349511643e-06,
+              0.7565865833654961
+            ],
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+              0.2836700011928088,
+              -0.004533216997354947,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.01326705269725564,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2069750953500867,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865833654961,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519274977796468,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08538241649034982,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1802832916070845,
+            "release_required_pad_clearance": 0.05269120824517491,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4370060629269356,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 248,
+            "max_placed_release_frames": 248
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "16ec129253739c054545c1e1716c5d289119cb26b99961f9e2f64712b822ab1b",
+    "visual_seed": 2574510118365692285,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_37_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..05ba666e74e31aebbe917b72ae2ca4192f35f406
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_37_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              -0.11539173115166514,
+              1.050397620967463
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+            "gripper_z": 1.0532123560138755,
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+              -0.11956809810678147,
+              1.0532123560138755
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+              0.004176366955116334,
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+            "object_to_gripper_z": -0.0028147350464124976,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.13890944482054984,
+              1.050397620967463
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+              -0.11539173115166514,
+              1.050397620967463
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+            "finger_midpoint": [
+              0.312186110946405,
+              -0.12715058798610748,
+              1.050397620967463
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+              0.011758856834442347,
+              0.0
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+            "finger_gap": 0.02587886774091502,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050397620967463,
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+            "fingertip_min_top_clearance": 0.015087285180762688,
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+            "object_to_finger_line_xy": 0.009814325051761616,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04901668601009797,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9292180912331052,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
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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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+                "defaultgroundplane",
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+              ],
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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": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "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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+              -0.007073169545856947,
+              1.2414402493310845
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+              -0.0028228552308833437,
+              1.2381862149603777
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
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+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007376114282916727,
+            "max_held_gripper_dist": 0.007379467042528264,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032540343707068153,
+            "max_held_gripper_z_dist": 0.003256057445523597,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08665027286823818,
+            "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": [
+              0.3089190053946673,
+              -0.028323299014152366,
+              1.2381862149603777
+            ],
+            "held_grasp_finger_b": [
+              0.29982075668439456,
+              -0.0028228552308833437,
+              1.2381862149603777
+            ],
+            "held_grasp_midpoint": [
+              0.30436988103953094,
+              -0.015573077122517855,
+              1.2381862149603777
+            ],
+            "held_grasp_object_position": [
+              0.3089190053946673,
+              -0.0028228552308833437,
+              1.2381862149603777
+            ],
+            "held_grasp_finger_gap": 0.02707491020737915,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02505200750055859,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04616053100539502,
+              -0.9988840864391637,
+              0.009989356130279958
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003957801869371219,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03225424122384614,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.262096142474875,
+              0.0006598465075407624,
+              0.7565868509143409
+            ],
+            "target_position": [
+              0.2792352427417094,
+              -0.0057228640309144015,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.01828900630910028,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20243556107102834,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565868509143409,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540234696863553,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09511615319493759,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1765336989308842,
+            "release_required_pad_clearance": 0.057558076597468796,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 10.859071339283917,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 247,
+            "max_placed_release_frames": 247
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b0935ab957a2b52694a6f2d60d36bf588a17797e2767d1f0c27897b808f5c12f",
+    "visual_seed": 7842661782110583435,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_38_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b962197e09643927a6bbdcdc2beb2bc309d200a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_38_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+            "object_position": [
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+              -0.11663228541400554,
+              1.0515636058491094
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+            "current_z": 1.0515636058491094,
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+            "lift_margin": 0.19045721704363316,
+            "gripper_z": 1.0546279151633546,
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+            "virtual_attach_allowed": false,
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+              -0.12095506224236646,
+              1.0546279151633546
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+              0.004322776828360922,
+              -0.0030643093142452837
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+            "object_to_gripper_z": -0.0030643093142452837,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3190808141363156,
+              -0.1406896480846264,
+              1.0515636058491094
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+              0.30836376231267804,
+              -0.11663228541400554,
+              1.0515636058491094
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+              0.3137222882244968,
+              -0.12866096674931596,
+              1.0515636058491094
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+              0.012028681335310418,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.8344099920342307,
+            "object_to_finger_line_xy": 0.009789602971638302,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05063055238001195,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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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",
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+              ],
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+            },
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+              "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": 4,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30641460321024794,
+              -0.01361062809890956,
+              1.238497946440577
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+              -0.009448412141459257,
+              1.2351086335584158
+            ],
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+            "required_gripper_z": 0.8930800627579277,
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+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00728332370837592,
+            "max_held_gripper_dist": 0.007284499952349905,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003389312882161155,
+            "max_held_gripper_z_dist": 0.0033900981124705964,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0852506860966922,
+            "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": [
+              0.3113375414336419,
+              -0.03489035824799501,
+              1.2351086335584158
+            ],
+            "held_grasp_finger_b": [
+              0.3024275086289323,
+              -0.009448412141459257,
+              1.2351086335584158
+            ],
+            "held_grasp_midpoint": [
+              0.3068825250312871,
+              -0.022169385194727134,
+              1.2351086335584158
+            ],
+            "held_grasp_object_position": [
+              0.3113375414336419,
+              -0.009448412141459257,
+              1.2351086335584158
+            ],
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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": 0.024643799036509578,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0803108374973644,
+              -0.9967543806198951,
+              0.005556446303311979
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+            "held_grasp_object_to_finger_line_xy": 0.003419745290166767,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03216275325088077,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.26365859363646577,
+              -0.008875618490245075,
+              0.7565922612606966
+            ],
+            "target_position": [
+              0.2816804452406687,
+              -0.013368337711869,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.018573412751787467,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20374028812170433,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565922612606966,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583846547912465,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08930211343586573,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17696770375566756,
+            "release_required_pad_clearance": 0.05465105671793287,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.320398960815295,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 241,
+            "max_placed_release_frames": 241
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "981867ad09e156da648f7810f548c1da1c62c552e55be7749201eae644e03d18",
+    "visual_seed": 3243867194083841658,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_39_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..00dce4496acd8e60ea5159863490fba46d1c71c2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_39_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+              -0.12038571101236446,
+              1.0517524252837451
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+            "lift_margin": 0.19064591726897917,
+            "gripper_z": 1.0549933916422978,
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+              -0.12471120803687802,
+              1.0549933916422978
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+              0.0043254970245135554,
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+            "object_to_gripper_z": -0.003240966358552644,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.31562953511516323,
+              -0.14452904398413932,
+              1.0517524252837451
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+            "finger_b": [
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+              -0.12038571101236446,
+              1.0517524252837451
+            ],
+            "finger_midpoint": [
+              0.3103067151932821,
+              -0.1324573774982519,
+              1.0517524252837451
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+              0.012071666485887436,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "fingertip_min_top_clearance": 0.015121594440191177,
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+            "object_to_finger_line_xy": 0.009740753931452736,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1493457595989245,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
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+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
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+                "gripper",
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+                "joint1",
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+                "joint4",
+                "joint5",
+                "joint6",
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+                "left_inner_finger",
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+                "mobile_translate_x",
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+                "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",
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+                "ground",
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+                "workbench"
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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",
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+        "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": {
+            "held": "beaker_b",
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+              -0.008657012736068767,
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+            "held_gripper_z_dist": 0.0030294502865038098,
+            "max_held_gripper_z_dist": 0.003029501875281948,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0863568487817831,
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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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+              0.3102696833513019,
+              -0.029937408830566354,
+              1.23834039273035
+            ],
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+              -0.004563771966027791,
+              1.23834039273035
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+              1.23834039273035
+            ],
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+              1.23834039273035
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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": 0.024726846170794223,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
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+            "held_grasp_local_up_axis": [
+              -0.06721875639959468,
+              -0.9977119145167512,
+              0.007250821981761413
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+            "held_grasp_object_to_finger_line_xy": 0.003517770466893713,
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+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0322480682368363,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.277311139285385,
+              -0.00518752038686469,
+              0.7565859662587389
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+              0.2807568983233668,
+              -0.007517493510300918,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.004159570903803499,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21161138614158034,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565859662587389,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579513623935033,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08509137288730799,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18260667719417578,
+            "release_required_pad_clearance": 0.052545686443654,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.15825610511429655,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 246,
+            "max_placed_release_frames": 246
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "151de025ff88c9e8ddb3599f0f9d994ca4cee28b520e70a03a3dbc050ad1ee50",
+    "visual_seed": 1262254539627189768,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_3_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..95d6312ade6bece88cd286d3fc0f7114fcf49028
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_3_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+              1.0495127126757464
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+            "lift_margin": 0.18840632387027,
+            "gripper_z": 1.0526563127573039,
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+              -0.12323612234262529,
+              1.0526563127573039
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+            "object_to_gripper_z": -0.0031436000815574516,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.32280822679116994,
+              -0.1430751436641223,
+              1.0495127126757464
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+              -0.11912247876927605,
+              1.0495127126757464
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+              0.31764932066711293,
+              -0.13109881121669917,
+              1.0495127126757464
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+              0.011976332447423119,
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+            "fingertip_min_top_clearance": 0.015176177048730644,
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+            "object_to_finger_line_xy": 0.009476046134759972,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049482299872268085,
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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",
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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": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30831087260014145,
+              -0.007424836864107887,
+              1.2396478145502563
+            ],
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+              0.3132747365743232,
+              -0.00325358874924402,
+              1.236602247969835
+            ],
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0071634301968898475,
+            "max_held_gripper_dist": 0.007164560698383069,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0030455665804212106,
+            "max_held_gripper_z_dist": 0.0030456365930910945,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08641612886379946,
+            "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": [
+              0.3132747365743232,
+              -0.02872782984243069,
+              1.236602247969835
+            ],
+            "held_grasp_finger_b": [
+              0.3042996483118881,
+              -0.00325358874924402,
+              1.236602247969835
+            ],
+            "held_grasp_midpoint": [
+              0.30878719244310565,
+              -0.015990709295837357,
+              1.236602247969835
+            ],
+            "held_grasp_object_position": [
+              0.3132747365743232,
+              -0.00325358874924402,
+              1.236602247969835
+            ],
+            "held_grasp_finger_gap": 0.027009057158521855,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024704978658855434,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07700967926780675,
+              -0.9969344026557972,
+              0.013831344851398916
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034978962508088107,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03215656696789267,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2698454392008486,
+              0.0038477164792145467,
+              0.7565864485434706
+            ],
+            "target_position": [
+              0.2836170055504099,
+              -0.0072266420073278095,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.017671939780590666,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20603437149668935,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864485434706,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07643778719841164,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0904013377958895,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18060459900529272,
+            "release_required_pad_clearance": 0.055200668897944755,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.5000186904826105,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 247,
+            "max_placed_release_frames": 247
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0e0ea9935450ee3ed8e6e2bf9ebf8b6f4de4f2ab8f7e5039ed13544073594168",
+    "visual_seed": 3307728582639230065,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_42_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b681bf0e6c76c072fe3f1fcfddd684dcc8151123
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_42_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.32095210486381553,
+              -0.1184143012971943,
+              1.0524981711177053
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+            "current_z": 1.0524981711177053,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.19139160349829465,
+            "gripper_z": 1.0552442469562806,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.12272049062197199,
+              1.0552442469562806
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+              0.004167619224962504,
+              0.004306189324777693,
+              -0.0027460758385753348
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+            "object_to_gripper_xy": 0.00599268858736264,
+            "object_to_gripper_z": -0.0027460758385753348,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32095210486381553,
+              -0.14229895097646378,
+              1.0524981711177053
+            ],
+            "finger_b": [
+              0.3101071298044861,
+              -0.1184143012971943,
+              1.0524981711177053
+            ],
+            "finger_midpoint": [
+              0.31552961733415086,
+              -0.13035662613682902,
+              1.0524981711177053
+            ],
+            "object_minus_finger_midpoint": [
+              0.005422487529664677,
+              0.011942324839634727,
+              0.0
+            ],
+            "finger_gap": 0.026231469160893462,
+            "fingertip_max_gap": 0.09332696370811669,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013115734580446707,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0524981711177053,
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+                "elbow_joint",
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+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "geometry",
+                "gripper",
+                "gripper_center",
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+                "joint5",
+                "joint6",
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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",
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+                "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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+            },
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_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": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
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+            "gripper_position": [
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+              -0.012749813870756702,
+              1.2428975230396322
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+              -0.00872406159899336,
+              1.2397451294354311
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
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+            "held_gripper_z_dist": 0.0031523936042010536,
+            "max_held_gripper_z_dist": 0.00315281309294857,
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+            "held_object_xy_range": 0.08649861809526252,
+            "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": [
+              0.3068999001701758,
+              -0.034161936471974616,
+              1.2397451294354311
+            ],
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+              0.29821543127392564,
+              -0.008383139516969739,
+              1.2397451294354311
+            ],
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+              -0.02127253799447218,
+              1.2397451294354311
+            ],
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+              -0.00872406159899336,
+              1.2397451294354311
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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": 0.0250583081550613,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07460239143079946,
+              -0.9971834739959491,
+              0.007720257908643056
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+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03236315060642771,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2621910475387175,
+              -0.006340226198442177,
+              0.7565866827307295
+            ],
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+              0.2773283971082969,
+              -0.012708842268705313,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.01642250354367622,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20733056924157042,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565866827307295,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523328401268138,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0863608094593898,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1814252813918586,
+            "release_required_pad_clearance": 0.0531804047296949,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3825090041707768,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 248,
+            "max_placed_release_frames": 248
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "96e871fbacee955880396b81feee9a77a8a43563d0089b2d48ff054648506e9f",
+    "visual_seed": 6181592185532635293,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_43_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3dcf0449c1c363cd1352c3f19fb103522efb516d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_43_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3130197909422905,
+              -0.12014502863190044,
+              1.0511475005278912
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+            "current_z": 1.0511475005278912,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.1900408136991909,
+            "gripper_z": 1.054586481725052,
+            "force_virtual_attach": false,
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+            "gripper_position": [
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+              -0.12437293764391019,
+              1.054586481725052
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+            "object_minus_gripper": [
+              0.004097966072443171,
+              0.004227909012009756,
+              -0.0034389811971609063
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+            "object_to_gripper_xy": 0.0058879997065836055,
+            "object_to_gripper_z": -0.0034389811971609063,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3130197909422905,
+              -0.14403756933742026,
+              1.0511475005278912
+            ],
+            "finger_b": [
+              0.30238719563353145,
+              -0.12014502863190044,
+              1.0511475005278912
+            ],
+            "finger_midpoint": [
+              0.30770349328791097,
+              -0.13209129898466035,
+              1.0511475005278912
+            ],
+            "object_minus_finger_midpoint": [
+              0.00531629765437952,
+              0.011946270352759913,
+              0.0
+            ],
+            "finger_gap": 0.02615158856292991,
+            "fingertip_max_gap": 0.09530748558065519,
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+                "fr3_joint5",
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+                "fr3_joint7",
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+                "geometry",
+                "gripper",
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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",
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+                "wrist_2_joint",
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+                "base_link",
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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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+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_gripper_z_dist": 0.0030933260092256276,
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+            "held_motion_ok": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.3081064788256502,
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+              -0.0073551536638171095,
+              1.2376711171461197
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+              1.2376711171461197
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+            "held_grasp_local_up_axis": [
+              -0.07920004227358371,
+              -0.9967621588285819,
+              0.013876311874832736
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03235921560973898,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
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+              -0.01036673049134506,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.011534562758382641,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20682605124020043,
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+            "gripper_away_ok": true,
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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": 0.07529684175578634,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09363678283236977,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17868216370707035,
+            "release_required_pad_clearance": 0.05681839141618489,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 9.097878544112048,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 238,
+            "max_placed_release_frames": 238
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6e43966ce9645e115cdfb7e2de6deb8ade3a9e9eb45b8bed47f21cf793ae7156",
+    "visual_seed": 4380808901890828306,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_44_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..54be0e453304787be827589117540d8f378f647d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_44_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
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+              1.051396559624783
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+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.19029017081930666,
+            "gripper_z": 1.0544066994880295,
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+              -0.12512549473449097,
+              1.0544066994880295
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+              0.004308088761222614,
+              -0.003010139863246497
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+            "object_to_gripper_xy": 0.005970990193740367,
+            "object_to_gripper_z": -0.003010139863246497,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3139901060807886,
+              -0.14462397684789757,
+              1.051396559624783
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+            "finger_b": [
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+              -0.12081740597326836,
+              1.051396559624783
+            ],
+            "finger_midpoint": [
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+                "fr3_joint5",
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+                "panda_rightfinger",
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+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
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+                "ur5e",
+                "visuals",
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+                "base_link",
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+            },
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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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": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
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+            "held_gripper_z_dist": 0.0036776204946782354,
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+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08595582184147507,
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+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.3118079419378813,
+              -0.032859898544231075,
+              1.2343334829610761
+            ],
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+              0.30221297664886765,
+              -0.0075358074354171,
+              1.2343334829610761
+            ],
+            "held_grasp_midpoint": [
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+              -0.020197852989824086,
+              1.2343334829610761
+            ],
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+              0.3118079419378813,
+              -0.0075358074354171,
+              1.2343334829610761
+            ],
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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": 0.02530658727854028,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0017065619732152502,
+              -0.9999554010695866,
+              0.009288892183360598
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+            "held_grasp_object_to_finger_line_xy": 0.004777316092485623,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03253055692364409,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2777738952296471,
+              -0.016627863076498765,
+              0.7565879101510744
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+              0.2825940187114416,
+              -0.011487015004480664,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.007047120637488652,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21172720842142925,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565879101510744,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538586766200332,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08910221596569486,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1820236305404564,
+            "release_required_pad_clearance": 0.05455110798284743,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.1363898832122254,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 205,
+            "max_placed_release_frames": 205
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "60b3b68e956a8005a504eb4d48cf3afed1d9f170efefc0b002a981d078718c00",
+    "visual_seed": 2086517564546641530,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_46_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbe5ae5ef4b071822a2abcd635f62be47e350da5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_46_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31545047860109526,
+              -0.11859856518679195,
+              1.0515725501651156
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+            "current_z": 1.0515725501651156,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.19046610175499445,
+            "gripper_z": 1.0545070314639744,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31126513529781613,
+              -0.12294199487348852,
+              1.0545070314639744
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+            "object_minus_gripper": [
+              0.004185343303279132,
+              0.0043434296866965705,
+              -0.00293448129885876
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+                "panda_rightfingertip",
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+                "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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+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
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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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+      }
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+    {
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+      "skill": "shake",
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+      "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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+            "gripper_position": [
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+              1.2381048559234997
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+            "required_gripper_z": 0.8930800627579277,
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+            "min_shake_count": 3,
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+            "held_gripper_z_dist": 0.0032149884840442233,
+            "max_held_gripper_z_dist": 0.003215314487387655,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08651808197143185,
+            "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": [
+              0.31018687546017687,
+              -0.031004885390107075,
+              1.2381048559234997
+            ],
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+              0.30127716160195406,
+              -0.005454341104768572,
+              1.2381048559234997
+            ],
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+              0.30573201853106546,
+              -0.018229613247437822,
+              1.2381048559234997
+            ],
+            "held_grasp_object_position": [
+              0.31018687546017687,
+              -0.005510440379513667,
+              1.2381048559234997
+            ],
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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": 0.02473218253913625,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08198299125611731,
+              -0.9965591044994093,
+              0.012195916695138417
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034007465926054864,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0321595949459125,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
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+          "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.26471223377444186,
+              -0.002053545959614416,
+              0.7565865391986752
+            ],
+            "target_position": [
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+              -0.008783383919465051,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.01703792025629716,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2041987493799783,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865391986752,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758989862605323,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08607119995772937,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17725180603435137,
+            "release_required_pad_clearance": 0.053035599978864686,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.101438183785797,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 243,
+            "max_placed_release_frames": 243
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "860b85a7b1946efac77806a3fa124ca5abe0bdcf29f4cfc85923b53e654cca16",
+    "visual_seed": 7330907923409361861,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_48_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3901641dd8859f9e92527f29e4d6347a22fe3e4b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_48_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31882626457123603,
+              -0.1202973833829763,
+              1.0510102163836748
+            ],
+            "current_z": 1.0510102163836748,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.18990376797355335,
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+                "panda_rightfingertip",
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+                "ridgebase_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",
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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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+      }
+    },
+    {
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+      "skill": "shake",
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+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+              1.24051918576251
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007372783623096333,
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+            "held_gripper_z_dist": 0.0031870584079221054,
+            "max_held_gripper_z_dist": 0.0031884396986379127,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08650693621459264,
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+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31244957552461033,
+              -0.02930651196700418,
+              1.24051918576251
+            ],
+            "held_grasp_finger_b": [
+              0.3032161269899044,
+              -0.0037634569768171307,
+              1.24051918576251
+            ],
+            "held_grasp_midpoint": [
+              0.30783285125725734,
+              -0.016534984471910655,
+              1.24051918576251
+            ],
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+              0.31244957552461033,
+              -0.0037634569768171307,
+              1.24051918576251
+            ],
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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": 0.02488398473019506,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06539800908979902,
+              -0.9978381165130673,
+              0.006495663225949522
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003772542465005265,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032154383449510354,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2877079794633399,
+              -0.00878648991459984,
+              0.7565906382905847
+            ],
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+              0.28276513921710716,
+              -0.00807459916274908,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.004993842022165796,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21748316747313293,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565906382905847,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574505467858193,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0870977964618193,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18716061433334927,
+            "release_required_pad_clearance": 0.05354889823090965,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0958193756200694,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 204,
+            "max_placed_release_frames": 204
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c0bb74c51e2612222d7b9fedac2e5563ededfdeb68191b2727a69e1142d6ca0f",
+    "visual_seed": 5717837734570334188,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_4_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..56d0b329724887ab7875973daa191658049372d2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_4_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
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+                "fr3_joint5",
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+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
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+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
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+                "ur16e",
+                "ur5e",
+                "visuals",
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+                "wrist_3_joint"
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+                "base_link",
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+          }
+        },
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+      },
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+    {
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+      "skill": "shake",
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+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
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+              -0.012202526662756147,
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+              -0.008099865406988344,
+              1.2399004861535294
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+            "min_shake_count": 3,
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+            "held_gripper_z_dist": 0.0031483614748928357,
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+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08641526427960708,
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+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3061639040395337,
+              -0.033500428278089044,
+              1.2399004861535294
+            ],
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+              0.29729963424546013,
+              -0.008099865406988344,
+              1.2399004861535294
+            ],
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+              -0.020800146842538694,
+              1.2399004861535294
+            ],
+            "held_grasp_object_position": [
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+              -0.008099865406988344,
+              1.2399004861535294
+            ],
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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": 0.02463473849393537,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07765803901322821,
+              -0.9969511475762809,
+              0.00759199071105765
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034338619286621535,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032194473909351144,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2624309408732761,
+              -0.006557803724548153,
+              0.756590125176455
+            ],
+            "target_position": [
+              0.2766953267533047,
+              -0.011133215654503412,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.01498022359189395,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20768557404683133,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756590125176455,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757796323808013,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08767575049821615,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18038110553743172,
+            "release_required_pad_clearance": 0.053837875249108075,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6720549909400453,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 245,
+            "max_placed_release_frames": 245
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "575068b6c777d690d9ddce0ad1a1cd0eee532527a26565a893365b23a0f80fb8",
+    "visual_seed": 9082425728053708172,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_51_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..75355f519899d8da68edc7795de84555a6363930
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_51_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+          "failure_messages": {},
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
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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"
+              ],
+              "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
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+            "max_z": 0.8730800627579277,
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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": 248,
+            "max_placed_release_frames": 248
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7dff9b65a134ee63abbedf83077b9000c7e853a0cf4e8239f98a2806b4efee25",
+    "visual_seed": 2233133088012488321,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_53_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..70a5150eae39768c5e0d404f8957f9ea71f14cfb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_53_success.json
@@ -0,0 +1,1335 @@
+{
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+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_54_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d26732e27103964020374dd87f9d481e70abef8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_54_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
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+          "metrics": {
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+              1.0526089269554664
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+              0.0041421939321010515,
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+            "object_to_gripper_z": -0.0027192879108288714,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.14267437066141517,
+              1.0526089269554664
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+              -0.11921652466573635,
+              1.0526089269554664
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+              1.0526089269554664
+            ],
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+              0.011728922997839397,
+              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": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "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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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+            },
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+          }
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+        "post_done_wait_frames": 0,
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+      },
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.12407697465664161,
+              1.2472624849478675
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+            "held_position": [
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+              -0.12025380124949861,
+              1.2444936884050684
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+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.006241680901803761,
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+            "max_held_gripper_z_dist": 0.002776441530579987,
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+            "held_grasp_geometry_required": true,
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+              1.2444936884050684
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+              -0.1326329564198758,
+              1.2444936884050684
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+              -0.12025380124949861,
+              1.2444936884050684
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_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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+              -0.9972639252727815,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
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+                {
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+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
+          }
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+        "post_done_wait_frames": 0,
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+      }
+    },
+    {
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+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "metrics": {
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+            "release_min_pad_clearance": 0.13330963831734563,
+            "release_required_pad_clearance": 0.05431665057939318,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "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": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+              "enabled": true
+            },
+            "status": "active",
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+            "forbidden": [],
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+            },
+            "failed_keys": []
+          }
+        },
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+    "task_island_state_digest": "e77049d0036972432f2fcb544a47153b2cc157171e68b421a16be8afda2fb9ad",
+    "visual_seed": 674567378534100200,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_56_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0777e369bef0d7bb018ffc3646959c590f89419a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_56_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "target": "beaker_a",
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+              1.0526232901048953
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+              -0.002696586043553051
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+              -0.1344327107608984,
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+              0.012060197562417496,
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+              0.0,
+              1.0
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+            "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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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+            },
+            "failed_keys": []
+          }
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+      },
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32341070242111203,
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+              1.2471408683307041
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+            "held_position": [
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+              -0.12313951034077725,
+              1.2444012164128266
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006659080624467058,
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+            "max_held_gripper_z_dist": 0.002751131739800572,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08723730814580309,
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+            "held_grasp_geometry_required": true,
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+              -0.1356114728746981,
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+              -0.12313951034077725,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02449560601595559,
+            "held_grasp_world_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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+              -0.9986212706506796,
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+            "held_grasp_object_projection_between_fingers": 0.5,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
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+          "passed": true,
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+            "release_min_pad_clearance": 0.13413367089523112,
+            "release_required_pad_clearance": 0.054640666018797815,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
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+            "object_tilt_deg": 4.312800858136662,
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+            "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": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
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+            },
+            "status": "active",
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+            "forbidden": [],
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+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "50cf73d4ddef192286f226eeef2756db59aee9e84b4947a964c3aaf6b144e894",
+    "visual_seed": 1836469770968073093,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_58_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..345eed47cbb333807ae02afa9bad2a6e7a5e409b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_58_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "target": "beaker_a",
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+              1.0492401985406241
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+              0.012173574496158954,
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+              0.0,
+              1.0
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+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
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+                  "b": "/World/beaker_2/mesh"
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+            },
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              1.2451791765490594
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+            "held_position": [
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+              -0.11587424904860902,
+              1.2420884797802407
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+            "held_shake_count": 5,
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+            "held_object_xy_range": 0.08687818346788397,
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+              1.2420884797802407
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+              -0.11587424904860902,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
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+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
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+            },
+            "failed_keys": []
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+        },
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
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+        "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": 0.1341025513249369,
+            "release_required_pad_clearance": 0.05356747385646962,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
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+            "object_tilt_deg": 2.1357808940111225,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 160,
+            "max_placed_release_frames": 160
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+    "forbidden_shortcuts_absent": true
+  },
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
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+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
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+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ce69d9e06ea581c98429ba4c47022a2d3b381fa1eb1663d198b9b37475433de3",
+    "visual_seed": 8859861900432917997,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
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+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_59_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3771bb8668395c189d4cca4f6b60f99cd4c49e07
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_59_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+              1.052092220121255
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+              0.0,
+              1.0
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+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
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+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
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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",
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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
+            },
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+            "source_missing": false,
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+            "max_held_gripper_z_dist": 0.003255788871436849,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "wheel",
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+            },
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+            "source_missing": false,
+            "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
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+              "ignored": [],
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+    },
+    {
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+      "skill": "place",
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+      "reason": "executed",
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+        "checker": {
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+            "max_z": 0.8774145980897915,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 164,
+            "max_placed_release_frames": 164
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "inspection_platform"
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+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
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+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
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+  "reproducibility": {
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+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
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+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
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+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9e822106b79d95b5aca9e905caa4ceae95f8fa95f87ce03fd6c188e99821905c",
+    "visual_seed": 702526390675414688,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      5298651874515874446,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_60_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4610beac58f5ceb214f40048fd6627d60a335968
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_60_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
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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_revolute_z_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",
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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,
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_a",
+              "allowed_objects": [
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+              ],
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+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+            },
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+            "source_missing": false,
+            "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
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+      "skill": "place",
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+      "reason": "executed",
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+        "checker": {
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+            "release_min_pad_clearance": 0.13433953465499923,
+            "release_required_pad_clearance": 0.05513728097971096,
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+            "max_z": 0.8774145980897915,
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+            "object_tilt_deg": 5.354302336894576,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "inspection_platform"
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+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
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+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
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+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6e3447b0f08bc05095fee6e1acc8cd522138c48532e0cd1f4273786935a7a503",
+    "visual_seed": 8910840014909232503,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
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+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
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+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_62_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..90ee46468207f07cbed9652570c8331025c8a1a5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_62_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+              0.0,
+              1.0
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+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
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+          "failure_messages": {},
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+              "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",
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+                "elbow_joint",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
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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": [
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+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
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+          "metrics": {
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+            "held_grasp_size_source": "beaker_a_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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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "wheel",
+                "workbench"
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
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+              "failed_keys": []
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+      }
+    },
+    {
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+      "skill": "place",
+      "target": "inspection_platform",
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+      "reason": "executed",
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+        "checker": {
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+          "skill": "place",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13087902042169577,
+            "release_required_pad_clearance": 0.054040283686122806,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
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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": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "inspection_platform"
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+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
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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": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0eb4f05bd393213313beec2ef693e3764888a8fd2686f11cfdeba18695df2dda",
+    "visual_seed": 5845410775232355864,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
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+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_63_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0927fb8eebc327285f2a19fe414d5a0fe9aeb866
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_63_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+              1.0519655252447486
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+              0.01181284057603181,
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+              1.0
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+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
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+          "failure_messages": {},
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+              "allowed_objects": [
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+              ],
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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",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
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+                "fr3_joint2",
+                "fr3_joint3",
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+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
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+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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+                "caster",
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+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
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+          "metrics": {
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+            "max_held_gripper_z_dist": 0.0026569032220820077,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_a",
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+                "beaker_a"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_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",
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+            "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
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+              "ignored": [],
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+    {
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+      "skill": "place",
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+      "reason": "executed",
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+        "checker": {
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+            "release_gap_missing_size": false,
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+            "release_required_pad_clearance": 0.055658435229187536,
+            "release_pad_clearance_ok": true,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
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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": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/target_plat"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
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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": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0922ce1b8b0c30b5dc257a89faf51dc366799e6671b87f41c4232352046b5c16",
+    "visual_seed": 7891620422378483371,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_64_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..25cda67b0677c950f8d7b2931a74501d738920fb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_64_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "target": "beaker_a",
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+          "skill": "pick",
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+            "lift_margin": 0.19151783310614623,
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+              0.011898128929499444,
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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": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "forbidden": [],
+            "disturbances": [],
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+            "gripper_position": [
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+            "held_shake_count": 5,
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+            "max_held_gripper_z_dist": 0.002661098861412192,
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+            "held_object_xy_range": 0.08705435129695431,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024352249087270798,
+            "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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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003483391580986891,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
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+                  "b": "/World/beaker_2/mesh"
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+              "ignored": [],
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+            "failed_keys": []
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+    },
+    {
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+      "skill": "place",
+      "target": "inspection_platform",
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+      "reason": "executed",
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+        "checker": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.133954229407855,
+            "release_required_pad_clearance": 0.053869431345613825,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
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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": 161,
+            "max_placed_release_frames": 161
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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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": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "57562d9ed75d1e52349d348d840fd95384fe60d147aac9d1f88cfb2a25c434ab",
+    "visual_seed": 2209713907802252720,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_65_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0d898500fe87e5f93f6f2e179afad55c3143b32
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_65_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+              1.0521152971127252
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+              0.011888240784896531,
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+              1.0
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+            "stable_success_frames": 211,
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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_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              1.245836711141434
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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": 0.0026620897271689703,
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+            "held_object_xy_range": 0.08715160591616687,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_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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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
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+                  "b": "/World/beaker_2/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+    },
+    {
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+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "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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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 159,
+            "max_placed_release_frames": 159
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
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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": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4d0d0627d1246bc1f5fbd5aa20202de621d97bf9188f6ef91dd70d6df97b64c4",
+    "visual_seed": 3656695156632656266,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_67_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd011ea36ec3768053ce3e47c41457fe8418cda2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_67_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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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",
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+                "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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "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_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_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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+            },
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+            "forbidden": [],
+            "disturbances": [],
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+      "skill": "place",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_min_pad_clearance": 0.13482531316544258,
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+            "force_virtual_attach": false,
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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": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "09e89466b6f3bb3725b56cc2fbeaf2d8916d6de00205a225f00631b4f878ea0f",
+    "visual_seed": 1760882080201237827,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_68_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d5eb0d25c974e0f55e438333020442303b49494
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_68_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
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+      "reason": "executed",
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+              1.0507993280442607
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+              -0.12322095742391992,
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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": 210,
+            "max_stable_success_frames": 210,
+            "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_a"
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+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+    {
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+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+            "max_held_gripper_z_dist": 0.0027693047308701146,
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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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+              "held_object": "beaker_a",
+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
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+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
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+              "ignored": [],
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+    },
+    {
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+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
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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": 0.13378911336893481,
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "056eda3f30d01c28b937042f5ebe4aecb6429d4486c8713b0953b3ed353b39ad",
+    "visual_seed": 5659352540423844791,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_6_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c1cb9a88a939640f3e8889a1f8cf22c382d095b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_6_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "target": "beaker_a",
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+            "required_stable_lift_frames": 5
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
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+            "max_held_gripper_z_dist": 0.0029571603943268077,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004203201010551029,
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
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+            },
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+            "source_missing": false,
+            "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
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+                  "b": "/World/beaker_2/mesh"
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+              "ignored": [],
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+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
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+            "placed_release_frames": 246,
+            "max_placed_release_frames": 246
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
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+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cea05d597c481eca330ca15817d7b8205bf7ea3c2a803ce44c22f13c968d879e",
+    "visual_seed": 8044211382612327943,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_72_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa6d7718358e4d1eda9242414776837c72726461
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_72_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
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+          "failure_messages": {},
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+              "robot_prim_substrings": [
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
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+                "floor",
+                "ground",
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+                "table",
+                "wheel",
+                "workbench"
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+    {
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+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "metrics": {
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
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+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "base_link",
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+                "ground",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6726004812545667,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 246,
+            "max_placed_release_frames": 246
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0f9c29cf3dddf623392a69276296a087cd5973a1d3941bf146342a8e36d241d9",
+    "visual_seed": 5314912411421170717,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_74_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..abc62f90e1dedb055f8da8bba237e79a0f2630bd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_74_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+              -0.1190417796080439,
+              1.049140648491244
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+              -0.12328728786493753,
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+              0.00424550825689364,
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+              -0.14287945616296197,
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+              0.011918838277459029,
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+            "fingertip_line_xy_max_dist": 0.05154708419159655,
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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": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "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,
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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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "max_held_gripper_z_dist": 0.0030622026956266257,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08603749684811716,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_required": true,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_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": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
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+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "attach_object": null,
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
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+            "release_fingertip_min_gap": 0.0874786916618832,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17925170817718727,
+            "release_required_pad_clearance": 0.0537393458309416,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.486650339402422,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 244,
+            "max_placed_release_frames": 244
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "96d4781a3df06e6267b58d02c0c14e5d9edbd64d49569f94e0a2582496f24f96",
+    "visual_seed": 6602309880821636404,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_78_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..563a006c366e144772e45356dd61bf1c457a0f92
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_78_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+            "object_position": [
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+              1.0526417991855084
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+              1.0526417991855084
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+              0.011799999309624234,
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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": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+            "last_frame": {
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+          }
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "held_shake_count": 5,
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+            "max_held_gripper_z_dist": 0.002691371458505065,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08715029764534098,
+            "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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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02415199038708199,
+            "held_grasp_world_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": 0.0033306232285155698,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
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+                  "b": "/World/beaker_2/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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+            "gripper_dist": 0.20880522593698667,
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+            "object_z": 0.7565869826885762,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530472014927558,
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+            "release_fingertip_min_gap": 0.09331020189626003,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18095991330776146,
+            "release_required_pad_clearance": 0.05665510094813002,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.7200807172065,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 249,
+            "max_placed_release_frames": 249
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0f836ddd6504429ef96f05a382f1fe5ba84e9c28bad4441de2c0f8e57e4a46ab",
+    "visual_seed": 5316246103123479070,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_80_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..94b18f1207ae53eb1736ebd6858520e6bf60df2e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_80_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+            "object_position": [
+              0.31424137462266044,
+              -0.1153066144041176,
+              1.0501463844322714
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+            "lift_margin": 0.18903987641750541,
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+              -0.11952296348991046,
+              1.0538677361771762
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+              -0.003721351744904844
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+            "object_to_gripper_z": -0.003721351744904844,
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+              -0.1153066144041176,
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+              1.0501463844322714
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+              0.01199789861174283,
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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": 210,
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+            "required_stable_lift_frames": 5
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                {
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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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
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+            "held_shake_count": 5,
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+            "max_held_gripper_z_dist": 0.0037523446455458576,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_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": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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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": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2687375381698448,
+              -0.0005557118236078507,
+              0.7565880651913415
+            ],
+            "target_position": [
+              0.28474433984608716,
+              -0.006056493458658322,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.016925610727505924,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20576438618761841,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565880651913415,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518763304262226,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09169245694278146,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17963210299874366,
+            "release_required_pad_clearance": 0.05584622847139073,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.898244859180151,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 250,
+            "max_placed_release_frames": 250
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2acfbbd8802517cb69f7f5fc26da4ea4aa7a6a03fef686e0acda920789961ddd",
+    "visual_seed": 5132271374804085271,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_81_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1de2dcec9674389ba9bf41d0d906d10b72889972
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_81_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+            "object_position": [
+              0.3208920783205922,
+              -0.12009300650737226,
+              1.0509573699274943
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+            "current_z": 1.0509573699274943,
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+            "lift_margin": 0.1898508023080835,
+            "gripper_z": 1.053504591425371,
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+              -0.12434182263521969,
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+              0.00424881612784743,
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+            "object_to_gripper_z": -0.0025472214978765617,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.14405009213190656,
+              1.0509573699274943
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+              -0.12009300650737226,
+              1.0509573699274943
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+              -0.1320715493196394,
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+              0.011978542812267151,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.00972812305824382,
+            "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": 1.3850751118946316,
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+              0.0,
+              1.0
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+            "stable_success_frames": 210,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.12456109865113164,
+              1.2435800403764843
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+            "held_position": [
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+              -0.12055558480228405,
+              1.2409845819950869
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+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0064818363005397376,
+            "max_held_gripper_dist": 0.0064903598359473055,
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+            "held_gripper_z_dist": 0.0025954583813974086,
+            "max_held_gripper_z_dist": 0.002605904020978711,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08705122057227532,
+            "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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+              1.2409845819950869
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+              -0.1329537832994523,
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+            "held_grasp_object_position": [
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+              -0.12055558480228405,
+              1.2409845819950869
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+            "held_grasp_finger_gap": 0.026207457684078773,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024306297243500405,
+            "held_grasp_world_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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+              -0.998199869332596,
+              -0.028978972311067386
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036031506860823405,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.269296596448637,
+              -0.009091497360262242,
+              0.7565880442470762
+            ],
+            "target_position": [
+              0.2828866476847261,
+              -0.011051597086936149,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.013730676732704531,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20505140672367214,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565880442470762,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751611928124929,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08766115090270384,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1783280448393611,
+            "release_required_pad_clearance": 0.05383057545135192,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.669723703770651,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 246,
+            "max_placed_release_frames": 246
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9d96231a2671b4ada9a46104205950c3d111af4f6c38a45af896195cf72ba7e5",
+    "visual_seed": 1512110111210954030,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_82_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..33719b1a66a5afb417a1066a81b78a4c854ebef4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_82_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              -0.11394610755757645,
+              1.051182218292586
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+            "current_z": 1.051182218292586,
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+            "lift_margin": 0.1900757102778199,
+            "gripper_z": 1.0543162762036518,
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+              -0.11831865602110735,
+              1.0543162762036518
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+              0.004372548463530898,
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+            "object_to_gripper_z": -0.0031340579110656908,
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+              -0.1376040325062641,
+              1.051182218292586
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+              -0.11394610755757645,
+              1.051182218292586
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+            "finger_midpoint": [
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+              -0.1257750700319203,
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+              0.01182896247434384,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.01010257593137964,
+            "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": 3.65695447675888,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
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+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31545345814525794,
+              -0.11856151892538055,
+              1.2456054229462006
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+            "held_position": [
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+              -0.11453258471288405,
+              1.242414548661098
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+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0068094457401840875,
+            "max_held_gripper_dist": 0.006818711476884559,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003190874285102563,
+            "max_held_gripper_z_dist": 0.0031996258451953974,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08710633712078186,
+            "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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+              -0.13945705841851677,
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+              1.242414548661098
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+              -0.1269948215657004,
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+            "held_grasp_object_position": [
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+              -0.11453258471288405,
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+            "held_grasp_finger_gap": 0.026328580421466852,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024494493590834908,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04727526035685532,
+              -0.9988391162535128,
+              0.00924497701960991
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003649552540199691,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037071957576294404,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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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": {
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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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
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+              -0.0035243687174431656,
+              0.7565867041041995
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+            "object_z": 0.7565867041041995,
+            "min_z": 0.5730800627579278,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_missing_size": false,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 7.195864897560402,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 248,
+            "max_placed_release_frames": 248
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f971ae64cda48f145fedd145f47221d9cdd6c972f6689e631eb45ee2d37b2f82",
+    "visual_seed": 7751122383923864397,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_83_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..be1edd8ce8b4db6d6e5b481bc6e8f066f7de4710
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_83_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+          "failure_messages": {},
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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",
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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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+            "disturbances": [],
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "max_held_gripper_z_dist": 0.0026219950840129513,
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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_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
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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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+        "ordinary_object_physical_only": true
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+    {
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+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
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+            "target": "beaker_b",
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+            "object_tilt_deg": 5.356937878100592,
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+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 245,
+            "max_placed_release_frames": 245
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
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+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "570e608461440bf8492910b0968b2b2800c0b3686f7dcace8f58e1d6d4d7a751",
+    "visual_seed": 4010849886072141468,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_84_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b731dc6534f53bce1a3bef5009bd6247d2d28289
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_84_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+          "failure_messages": {},
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+              "allowed_objects": [
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+              "allowed_object_paths": [
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+              "robot_prim_substrings": [
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
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+                "fr3_joint2",
+                "fr3_joint3",
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+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "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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+      "skill": "shake",
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+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "metrics": {
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+            "held_grasp_z_skew_max": 0.08,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+              "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
+      },
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "target": "beaker_b",
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+            "object_tilt_deg": 1.7711717321520988,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 251,
+            "max_placed_release_frames": 251
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
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+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a1fae81a0cc2dbb666c0cf8a50644b3967a8bc23428bb52958e87739cbb7a615",
+    "visual_seed": 2105113912605507957,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_86_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..67a5430139681949d7687685e7baff1b7a5b477c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_86_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+          "failure_messages": {},
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+              "allowed_objects": [
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+                "/World/beaker_2"
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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",
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+            "source_missing": false,
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+            "disturbances": [],
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+    {
+      "step_index": 1,
+      "skill": "shake",
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+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
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+          "target": "beaker_a",
+          "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": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
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+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2731679191449424,
+              0.009655881453032304,
+              0.7565931205782811
+            ],
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+              0.28203909959581497,
+              -0.004488904929451931,
+              0.7730800627579277
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21031732945697737,
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+            "object_z": 0.7565931205782811,
+            "min_z": 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_missing_size": false,
+            "release_min_pad_clearance": 0.18523947337271895,
+            "release_required_pad_clearance": 0.05638605487988635,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.098827048422889,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 252,
+            "max_placed_release_frames": 252
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "864e4c3f066d8093518e1c236f3211f9657142493a4f88895595beeda261b80f",
+    "visual_seed": 2607465811940319005,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_87_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d28bcf677947dfbf4a02c85f4379d5b21b3646c7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_87_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+            "stable_success_frames": 209,
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+            "required_stable_lift_frames": 5
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+            },
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+            "max_held_gripper_z_dist": 0.0030003875645332467,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_projection_between_fingers": 0.5,
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
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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": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2730242380937205,
+              -0.012124767596857546,
+              0.7565862720583689
+            ],
+            "target_position": [
+              0.2850412031800159,
+              -0.012636588740865807,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.012027859775067911,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20666404639512295,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565862720583689,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528035967838907,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09224604977300065,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1790511820418847,
+            "release_required_pad_clearance": 0.056123024886500325,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 7.5124893794279854,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 246,
+            "max_placed_release_frames": 246
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "05155b45f4257bbe49502084c473d71bf8d742ffd486f991334ede4e743a6444",
+    "visual_seed": 2736705837782188470,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_88_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4551f65e0d1434a6bed4940a1eae4d06d87ee6b3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_88_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+      "target": "beaker_a",
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+              1.051766200891206
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+            "required_stable_lift_frames": 5
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
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+            "max_held_gripper_z_dist": 0.0030118251055919476,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024286930946719104,
+            "held_grasp_world_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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+              -0.011043470832729607
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003178943887089389,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
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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": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.28050697007555697,
+              -0.01406707289599887,
+              0.7565863185060848
+            ],
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+              0.28431655708714687,
+              -0.013027440703614848,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.003948897098471378,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21084100003634124,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863185060848,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528956974009607,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09152224237984154,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18227307231067827,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.7115771959739705,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 247,
+            "max_placed_release_frames": 247
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1bb29bd1636b692518a37f4334b3b9ecaeacc648904bbcd8edff2069bc3193f0",
+    "visual_seed": 4181780652060951927,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_90_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..95cee0406a92365405fb400a53e7a9f30a02b301
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_90_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+              1.0512852304401519
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+              1.0
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+            "stable_success_frames": 211,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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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/beaker_2/mesh"
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+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
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+            "max_held_gripper_z_dist": 0.0026919512069336626,
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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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+              -0.9978718778629189,
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034612123424997547,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.27665187039837513,
+              -0.007624333565980961,
+              0.7565878852440826
+            ],
+            "target_position": [
+              0.2836805506891176,
+              -0.006781780471093642,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.007079000095153002,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21035749481461605,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565878852440826,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533311659084908,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08598364554464989,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18167018892053532,
+            "release_required_pad_clearance": 0.05299182277232495,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0133500367432389,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 247,
+            "max_placed_release_frames": 247
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "920d45063130d114fbc39da08c874a0c58b502550c550c3a50c3ec03cd6ea175",
+    "visual_seed": 3978308271357756789,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_91_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7a90363404439e2cff27059e3dfd95dc914e2e4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_91_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+      "target": "beaker_a",
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+            "object_upright_reference_source": "scene_initial",
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+            "required_stable_lift_frames": 5
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+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "max_held_gripper_z_dist": 0.0029786698994220817,
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+            "held_grasp_geometry_required": true,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024442416538699985,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
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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": [
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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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
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+              -0.0050374735654462955,
+              0.7565882282623921
+            ],
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+              0.2841542817395721,
+              -0.005261435099972408,
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+            "xy_dist": 0.013553376574575459,
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+            "min_z": 0.5730800627579278,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08858935901756305,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1792284109843631,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.6059646115730235,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 245,
+            "max_placed_release_frames": 245
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
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+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aaa6672452023c4b3d8dbca5b1f8fdca74ab3fbd985c501bec97d1aae590682b",
+    "visual_seed": 5219451280785595304,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_92_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9b77c3b0c6e943c728a6723c5a8aa48f2c0c9b7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_92_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
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+              "robot_prim_substrings": [
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "passed": true,
+          "metrics": {
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+            "max_held_gripper_z_dist": 0.002693154522245722,
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+          },
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2726022376793737,
+              -0.005886422997358533,
+              0.756586310216454
+            ],
+            "target_position": [
+              0.28475677156228585,
+              -0.011750335714780234,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.01349511638587825,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20900027766944415,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756586310216454,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757313235249888,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0884282313121403,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18176627178037283,
+            "release_required_pad_clearance": 0.05421411565607015,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.4452117890028173,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 246,
+            "max_placed_release_frames": 246
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ecfdf99c0bdf67d17da7c66efbe13863fd68ed692c3c4ce03c552c47b988d49c",
+    "visual_seed": 2750609522049234304,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_93_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8cc0061308d4e1302d2d826c64b78bd344fbf53
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_93_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+              1.0
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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_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
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+            },
+            "failed_keys": []
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+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.00666316843583697,
+            "max_held_gripper_dist": 0.006672353799751777,
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+            "held_gripper_z_dist": 0.002868537175274577,
+            "max_held_gripper_z_dist": 0.0028784171331239783,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08700105912175186,
+            "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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+              -0.13774750182183446,
+              1.243201661162892
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+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03242891813465751,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
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+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.27639719144803776,
+              -0.016040707256934253,
+              0.7565879144797505
+            ],
+            "target_position": [
+              0.28382877551631974,
+              -0.012590078166560478,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.008193612322002813,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21067890204172063,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565879144797505,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556945245062675,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08573697510975313,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18108375922646783,
+            "release_required_pad_clearance": 0.05286848755487657,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.778330297611067,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 244,
+            "max_placed_release_frames": 244
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
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+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "63726fe6d2de79ffa94b00cae05fe30ddbda29adf04508dcee9093448d5ea1da",
+    "visual_seed": 4927802252553174033,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_95_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e103c8f166e2aec6cd956d441ad7f051e3e68af
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_95_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              1.051789929973435
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+              -0.14635043509965381,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
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+            "required_stable_lift_frames": 5
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+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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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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+                {
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+                  "b": "/World/beaker_2/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": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007058682322059414,
+            "max_held_gripper_dist": 0.007068017025377477,
+            "held_gripper_max_dist": 0.15,
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+              -0.002221468707574883,
+              1.237712707056657
+            ],
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02521412526150014,
+            "held_grasp_world_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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+              -0.9991950685292282,
+              0.027378198605029318
+            ],
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+            "held_grasp_object_to_finger_line_xy": 0.004352461381640455,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03231671831263782,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.26696566139190164,
+              -0.0003544087683359388,
+              0.75658626827004
+            ],
+            "target_position": [
+              0.28553650925341384,
+              -0.0086447881293432,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.02033732480551086,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20500810321270196,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.75658626827004,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516848480348351,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08566000791113416,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17992080976457236,
+            "release_required_pad_clearance": 0.052830003955567084,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7033176964522514,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 250,
+            "max_placed_release_frames": 250
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d253e12f39be8278f0c9c2c263a3d1bcbe5cbde4d059a24bdb79417b3f43e748",
+    "visual_seed": 5730855317932113825,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_97_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..26ea9a6cae4f6711acc6af74710a0b7057f145c1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_97_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              1.0532209781492488
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+              -0.1230980255731916,
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+              -0.11875215594851703,
+              1.0532209781492488
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+              0.011910712413297816,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04882854084747261,
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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": 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": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.12387938684138995,
+              1.2460805808721274
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+            "held_position": [
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+              -0.11986382999962648,
+              1.2434520705220078
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+            ],
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+              0.30345954635253236,
+              -0.0034474334891573004,
+              1.240276797071674
+            ],
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+              -0.01616555064001709,
+              1.240276797071674
+            ],
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+              -0.0034474334891573004,
+              1.240276797071674
+            ],
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02481297650284935,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+              -0.9979499223593161,
+              0.006385560670493562
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+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032222625170721025,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.27059499864810954,
+              -0.002753012360949541,
+              0.7565897044543064
+            ],
+            "target_position": [
+              0.28291530202453674,
+              -0.006981171843349114,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.013025636563938396,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20626156686131475,
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+            "gripper_away_ok": true,
+            "object_z": 0.7565897044543064,
+            "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": 0.07543747072430391,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08900909765455502,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17902658394483717,
+            "release_required_pad_clearance": 0.05450454882727751,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.023747976619314,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 245,
+            "max_placed_release_frames": 245
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
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+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "05beb1a4990930d8c67b47a0e87d698aff6739da5ce706ac366ee8a8b25edc55",
+    "visual_seed": 6377156873383918148,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_98_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4149b4632fcf686a0aeb27d5cb7692d754d3d1b9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_98_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              1.0527130700128193
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+              -0.13767357752037584,
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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": 212,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
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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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+              1.2401066243535224
+            ],
+            "held_grasp_finger_b": [
+              0.30297765288665973,
+              -0.0030914901888888053,
+              1.2401066243535224
+            ],
+            "held_grasp_midpoint": [
+              0.3072487487026052,
+              -0.01610588901930873,
+              1.2401066243535224
+            ],
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+              0.3115198445185507,
+              -0.0036481069970312812,
+              1.2401066243535224
+            ],
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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": 0.025268189541889877,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
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+            "held_grasp_local_up_axis": [
+              -0.07904045111328761,
+              -0.9967178876265311,
+              0.017494558385783506
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+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032445741444014214,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.26472877940045,
+              -0.007520106278946634,
+              0.7565863202934924
+            ],
+            "target_position": [
+              0.2818486967274083,
+              -0.006393047743220552,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.017156976138726812,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20252610991149808,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863202934924,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075601284787455,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0873031922842339,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17463709750506465,
+            "release_required_pad_clearance": 0.05365159614211695,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.312797114916775,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 242,
+            "max_placed_release_frames": 242
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "workflow_spec_digest": "2c06a65ac0a72533e521fd818042c78403db0046416b91a4e7a6cffc85336fcd",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "24e442df4c3af3fc5aec1d6877583b91161abc7efea18900b917986e63f640e5",
+    "visual_seed": 8766108974667124225,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301,
+      2709155700873044808,
+      8371969305485854496
+    ],
+    "runtime_workflow_digest": "ceef8ba4e83393a78ff4c8af87c64d7f0ad45a5b21e2ff8f8064214b23216ff4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_99_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2bd1541d450bb741509231a16d171f3e38dfd27
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00029/results/episode_99_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+              -0.11361319806561955,
+              1.0530004558037143
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+              -0.11783358193641894,
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+              0.004220383870799385,
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+            "object_to_gripper_z": -0.0027518725825608215,
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+              0.3169205801756454,
+              -0.1371047285968704,
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+              -0.11361319806561955,
+              1.0530004558037143
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+              -0.12535896333124497,
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+              0.011745765265625416,
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+            "object_to_finger_line_xy": 0.009898025671777132,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04905393869185161,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1997716076926066,
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+            "object_upright_axis_local": [
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+              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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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4a92170b37263d9ace4be43c8fc02bae4b06f1a3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,60 @@
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[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.5984441488483452,"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/2820.png","name":"2820"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2820.png","name":"2820"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2873.png","name":"2873"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7135.png","name":"7135"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6258.png","name":"6258"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9693.png","name":"9693"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":669.6357913804715,"rotation_z_degrees":281.90940636659263,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014587457160318815,-0.0029508723714675965,0.010786649301179976]},{"name":"camera_2","offset_m":[-0.013569384659728852,0.005875006092125334,-0.015113173461797112]},{"name":"camera_3","offset_m":[0.0006542202054432913,-0.002686045221589793,-0.017237390395718127]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001513326982114851,0.001973481370101761,-0.0007611671791509101],"end_effector_yaw_offset_degrees":-0.8882487336283098},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0012305645271399955,0.000474648999323785,-0.00046851642516109186],"end_effector_yaw_offset_degrees":0.8401429363792712},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-5.972656337212799e-06,0.0006658618006536261,0.000302243403781351],"end_effector_yaw_offset_degrees":-0.8856224905536874},{"step_index":3,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001342825267479435,0.0003668830515615091,0.0018753940352614078],"end_effector_yaw_offset_degrees":-0.3232464507259678},{"step_index":4,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00036305612600668973,0.0015816255801519414,-7.641152098956331e-05],"end_effector_yaw_offset_degrees":-0.07318992465624619},{"step_index":5,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0004470401420324879,0.001340169944730821,0.00033641647952460793],"end_effector_yaw_offset_degrees":-0.2108693789076701}]}},"meta":{"task":"fast_2beaker_central_longmix_s06_pslpsl_nbo_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0018051931530620458,0.003910486208405123],"position_m":[0.30000519315306207,-0.1822895137915949,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0018096493551253978,0.004200072768115254],"position_m":[0.3178903506448746,0.014500072768115255,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023100991965670802,-0.0002572620019890316],"position_m":[0.2472899008034329,0.21934273799801096,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"053c69651f352e0fe29347b4084644da41afcf65c836094cf87f12a6bb0dd389","episode_index":137,"episode_name":"episode_0137"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/dataset/episode_0137.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2820/tex_ceiling_textures_9693/tex_floor_textures_6258/tex_table_textures_2873/tex_wall_textures_7135","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":610681819849620560,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":610681819849620560,"visual_seed":610681819849620560,"scene_id":"lab_003","finished_at":"2026-09-02T04:17:03"}
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..6f01d484874121f4ff471b34901a9dc91d0b1e40
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/resolved_config.yaml
@@ -0,0 +1,291 @@
+name: fast_2beaker_central_longmix_s06_pslpsl_nbo_00030
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Shake the current contents of
+    beaker a once. Place beaker a at inspection platform. Pick up beaker b from home.
+    Shake the current contents of beaker b once. Place beaker b at home.
+  layout_id: layout_00030
+  reproducibility:
+    enabled: true
+    layout_id: layout_00030
+    action_seed: 6658796726011171620
+    step_seeds:
+    - 3188608099509189937
+    - 4949622282959698655
+    - 6590206372818194557
+    - 3957288070049760871
+    - 4471394649374130754
+    - 7646082623233218622
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2982
+      - 0.2982
+      'y':
+      - -0.1862
+      - -0.1862
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.3197
+      - 0.3197
+      'y':
+      - 0.0103
+      - 0.0103
+      z:
+      - 0.0
+      - 0.0
+    role: receiver
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.2496
+      - 0.2496
+      'y':
+      - 0.2196
+      - 0.2196
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      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_a
+    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: inspection_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      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: beaker_b
+    target_key: beaker_b_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+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/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_102_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_102_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..49367d6c21b6bb438e77f5e2a2997904d137ad3e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_102_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 102,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.32218826761713665,
+              -0.18333184397914126,
+              1.052328251286219
+            ],
+            "current_z": 1.052328251286219,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.1912218028760977,
+            "gripper_z": 1.0552606207546409,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3182676750737612,
+              -0.1873710993590618,
+              1.0552606207546409
+            ],
+            "object_minus_gripper": [
+              0.003920592543375456,
+              0.004039255379920531,
+              -0.0029323694684217916
+            ],
+            "object_to_gripper_xy": 0.005629087840439887,
+            "object_to_gripper_z": -0.0029323694684217916,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32218826761713665,
+              -0.20729335241502536,
+              1.052328251286219
+            ],
+            "finger_b": [
+              0.31216524047547733,
+              -0.18333184397914126,
+              1.052328251286219
+            ],
+            "finger_midpoint": [
+              0.31717675404630696,
+              -0.1953125981970833,
+              1.052328251286219
+            ],
+            "object_minus_finger_midpoint": [
+              0.005011513570829684,
+              0.011980754217942036,
+              0.0
+            ],
+            "finger_gap": 0.025973350950645242,
+            "fingertip_max_gap": 0.09621493119821775,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01298667547532262,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.052328251286219,
+            "object_top_z": 1.1041464685080475,
+            "finger_top_clearance": 0.051818217221828444,
+            "fingertip_min_top_clearance": 0.015545465166548499,
+            "object_projection_between_fingers": 0.8510838343383255,
+            "object_to_finger_line_xy": 0.009246664008211003,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05060746559910888,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.7234992998318845,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3192868324409781,
+              -0.18871806534871094,
+              1.2460956431199992
+            ],
+            "held_position": [
+              0.3233222615945487,
+              -0.184664641770532,
+              1.2432755528621238
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006377134169843722,
+            "max_held_gripper_dist": 0.006388021881462254,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0028200902578754405,
+            "max_held_gripper_z_dist": 0.0029006634483563776,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08703107225231912,
+            "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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+            ],
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+              -0.184664641770532,
+              1.2432755528621238
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+              -0.19663005772238812,
+              1.2432755528621238
+            ],
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+              -0.184664641770532,
+              1.2432755528621238
+            ],
+            "held_grasp_finger_gap": 0.02545001553533374,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02387009352571301,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.003543245124604624,
+              -0.9987443321839953,
+              -0.04997203562325867
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004329778919637704,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03775451410467098,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "inspection_platform",
+            "object_position": [
+              0.24130479455403037,
+              0.21823954056245334,
+              0.7671061508206843
+            ],
+            "target_position": [
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+              0.21976702834368422,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008174442452137793,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1659723299946017,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671061508206843,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588986323915259,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08708889127531523,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13196192830252898,
+            "release_required_pad_clearance": 0.05354444563765762,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.092092502847011,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 165,
+            "max_placed_release_frames": 165
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
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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": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
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+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
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+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a0e66d0af858a1626827e1fe3edd19a3a0b4ea1f57dd0178ff56144fce00027b",
+    "visual_seed": 4482993132837712149,
+    "episode_index": 102,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
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+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_103_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..52d956cd9d82c76cb1f11060316763e25bd3f242
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_103_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "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",
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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",
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+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "caster",
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+                "floor",
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+                "wheel",
+                "workbench"
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+    {
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+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "metrics": {
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_a",
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
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+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_x_joint",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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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+          "failure_messages": {},
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+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "08f0569496bf728217172df0dadd41967a00e19b0a5a4cedaf759cd1ff88a3bf",
+    "visual_seed": 2613882530614221347,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_107_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_107_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..09cf532d8f4efda5e6234850e4b57aa6731777d3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_107_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 107,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
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+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+    {
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+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "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_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
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+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "wheel",
+                "workbench"
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+            "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
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+    {
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+      "target": "inspection_platform",
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+      "reason": "executed",
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+        "checker": {
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+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e2ed6f227f427cec9069e78dc4cd43468aee7623758a8e0045de0bddc6b46717",
+    "visual_seed": 1606396496137966778,
+    "episode_index": 107,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_109_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_109_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..65f9921fb150a3a3ba8fd2dbe0388dd06ffc174c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_109_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 109,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
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+      "target": "beaker_a",
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+      "reason": "executed",
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+              1.0528222277305046
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+              0.011710935827377728,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.055123321603686895,
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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": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+                {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+            "held_shake_count": 5,
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+            "max_held_gripper_z_dist": 0.0026198404030242095,
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
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+                  "b": "/World/beaker_2/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+    },
+    {
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+      "skill": "place",
+      "target": "inspection_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "place",
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+          "metrics": {
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13162791902814583,
+            "release_required_pad_clearance": 0.053751568188741466,
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+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8bee0f5cff060ddfc80601f41f4f83baf7f50cfc1ef169ca76f2ff4d8ddc46b8",
+    "visual_seed": 669480583176392858,
+    "episode_index": 109,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_10_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..531eadfc82ffb3bffa9b4851ec4972aaad67a9bc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_10_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              1.0509905038879725
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+            "lift_margin": 0.18988405547785137,
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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": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "disturbances": [],
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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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+            "held_shake_count": 5,
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+            "max_held_gripper_z_dist": 0.0019905258189467645,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
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+              "ignored": [],
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+    },
+    {
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+      "skill": "place",
+      "target": "inspection_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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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0054f9125f161d8481c4302e1788e05052c15f1858756613f1395d4ba14c38d0",
+    "visual_seed": 1193682604212475677,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_113_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_113_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..54dd3df7ccac432e0a66ffb99c34f4884a997a2c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_113_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 113,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+              1.0495139681809724
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+            "object_upright_reference_source": "scene_initial",
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+            "required_stable_lift_frames": 5
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "disturbances": [],
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "max_held_gripper_z_dist": 0.002315748932611772,
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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_a",
+              "allowed_objects": [
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+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
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+            },
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+            "source_missing": false,
+            "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
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+                  "b": "/World/beaker_2/mesh"
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+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "object_tilt_deg": 1.6260208478459215,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 195,
+            "max_placed_release_frames": 195
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 113,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "024777797765f25e3ff6aea25c2aa79ed121468baebb99c9368b2af68c3517ae",
+    "visual_seed": 6982044056750474648,
+    "episode_index": 113,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_114_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_114_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eeedc562003458bc659d71359deeb87d923f8823
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_114_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 114,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
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+          "failure_messages": {},
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+              "allowed_objects": [
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+                "fr3",
+                "fr3_duo_mobile",
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+                "fr3_joint7",
+                "fr3_leftfinger",
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+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "floor",
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+                "table",
+                "wheel",
+                "workbench"
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+    {
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+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_a",
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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": [
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+                "caster",
+                "defaultgroundplane",
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+    {
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+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+            "target": "inspection_platform",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18600739948955597,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 7.490563075590717,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 241,
+            "max_placed_release_frames": 241
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "791012bfb96edb692e2779ad966722cba4cd22280d08680d7f2e89b2c7f27334",
+    "visual_seed": 7668053315020942030,
+    "episode_index": 114,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_115_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_115_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b4e975b0606a5e29495e9431a00d5526c66f708
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_115_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 115,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "target": "beaker_a",
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+      "reason": "executed",
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+              1.0494630866545627
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+            "stable_success_frames": 207,
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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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+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
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+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+            "max_held_gripper_z_dist": 0.0027308116067779054,
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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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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
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+                {
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+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
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+        },
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+      "physical_semantics": {
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+    {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
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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": 241,
+            "max_placed_release_frames": 241
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e0fb4a66db099511dd34058e40cc9ae81ca7bb157bd7cf352e042cc3e2058b39",
+    "visual_seed": 2217868464391816890,
+    "episode_index": 115,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_119_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_119_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0daf94cbccbc65797c55b450994d0fb154e4219
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_119_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 119,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+              "robot_prim_substrings": [
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
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+                "fr3_duo_mobile",
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+                "fr3_joint5",
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+                "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",
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+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "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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+      "skill": "shake",
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+      "success": true,
+      "reason": "executed",
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+        "arm": null,
+        "checker": {
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+          "safety": {
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+              "held_object": "beaker_a",
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+              "robot_prim_substrings": [
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+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_x_joint",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
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+                "desk",
+                "floor",
+                "ground",
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+              "ignored": [],
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+              0.7730800627579277
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+            "xy_threshold": 0.08,
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+            "gripper_away_threshold": 0.04,
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+            "min_z": 0.5730800627579278,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09059626669123998,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1810524023565205,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.7058657280018865,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 239,
+            "max_placed_release_frames": 239
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 119,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "42aa5573d343b27f06061597b9520bc6cf7fbb5450170e7097f96ca9e8e3a3a3",
+    "visual_seed": 1338595079989846310,
+    "episode_index": 119,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_122_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_122_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b1140969124d26be20aa5a602bdc75ef606d422
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_122_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 122,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              1.0506196874958984
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+              0.011677270621510166,
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+              0.0,
+              1.0
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+            "stable_success_frames": 209,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+            },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+            "max_held_gripper_z_dist": 0.002156847794369643,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_grasp_geometry_required": true,
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+            "held_grasp_object_position": [
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew": 0.023323516731302972,
+            "held_grasp_world_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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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
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+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3208748104005031,
+              0.016144410108736476,
+              0.7565909624963176
+            ],
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+              0.009997265604673601,
+              0.7730800627579277
+            ],
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+            "xy_dist": 0.00861964951959217,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.22058770162180466,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565909624963176,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563442986459569,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09193534693684517,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1915618385458894,
+            "release_required_pad_clearance": 0.05596767346842259,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 7.1507671722650965,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 204,
+            "max_placed_release_frames": 204
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "811db0d5ac81e5cb385b90ae9c27970b68049001cdffec70f9cde77c4a8ed2ea",
+    "visual_seed": 3561318984296968203,
+    "episode_index": 122,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_123_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_123_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f5ae9708111a59344cfe0654448825bc0fbfc69
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_123_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 123,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3196649934922017,
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+              1.0535056264184215
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+            "current_z": 1.0535056264184215,
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+            "lift_margin": 0.1923991780083002,
+            "gripper_z": 1.0559304290061895,
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+            "object_to_gripper_z": -0.0024248025877680046,
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+              0.011636696478869335,
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              1.0
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+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "held_shake_count": 5,
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+            "max_held_gripper_dist": 0.005742073690609725,
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+            "max_held_gripper_z_dist": 0.0023959430272901816,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08625960511019082,
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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_object_position": [
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02348348849567268,
+            "held_grasp_world_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": 0.004389375619399376,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.31235901457417686,
+              0.0035596975700308217,
+              0.7565864963337201
+            ],
+            "target_position": [
+              0.32287963150564,
+              0.008145262482010246,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.011476531975320992,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20980619897631853,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864963337201,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555324909893688,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08558105766049039,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18016131312368833,
+            "release_required_pad_clearance": 0.052790528830245195,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6280705162974352,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 202,
+            "max_placed_release_frames": 202
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 123,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f3ec32dc9e3b520dd888beb1be7e89d24205fa542904dbf8bb9d0cec679e1763",
+    "visual_seed": 4397775146345314371,
+    "episode_index": 123,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_124_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_124_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c7a45b17550b099a60dce5783f46f64e6420a91
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_124_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 124,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              -0.18634537117508027,
+              1.0508004260470383
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+            "lift_margin": 0.18969397763691687,
+            "gripper_z": 1.053541557739448,
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+              -0.190224203936383,
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+            "object_to_gripper_z": -0.0027411316924097484,
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+              1.0508004260470383
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+              -0.19818668391545452,
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+              0.011841312740374255,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.009070621447108126,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_tilt_deg": 2.6100590604477443,
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+              0.0,
+              1.0
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+            "stable_success_frames": 210,
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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_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "held_position": [
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+              -0.18819403609880575,
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+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005971644261173583,
+            "max_held_gripper_dist": 0.005982167891256885,
+            "held_gripper_max_dist": 0.15,
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+            "max_held_gripper_z_dist": 0.0027162794562805015,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08686853198676714,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              1.2410090229552502
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+              -0.20005497931022392,
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+            "held_grasp_object_position": [
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+            "held_grasp_finger_gap": 0.02509483416119806,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023546718252018973,
+            "held_grasp_world_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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+              -0.9969606745342862,
+              -0.07688244221147
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00404822371221308,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3137532194729826,
+              0.00828434557312628,
+              0.7565872509991355
+            ],
+            "target_position": [
+              0.3149047785853685,
+              0.015060683395416798,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.006873488391721049,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21580440684740593,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565872509991355,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07593952064911609,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08595213741315898,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18439797714993916,
+            "release_required_pad_clearance": 0.05297606870657949,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9859496275161479,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 202,
+            "max_placed_release_frames": 202
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8481e0ba383ad330c2c8421942bc7f4cf7ac986476cf726e6e98487c28782bdd",
+    "visual_seed": 1400778369865329460,
+    "episode_index": 124,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_12_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff56c9757af3714b28adabdc07b9a9fca85da007
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_12_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3174076176190732,
+              -0.18214458038186543,
+              1.053269957312039
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+            "current_z": 1.053269957312039,
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+            "lift_margin": 0.19216344929727303,
+            "gripper_z": 1.0558339486715,
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+            "gripper_position": [
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+              -0.18611036680641485,
+              1.0558339486715
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+              0.003965786424549422,
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+            "object_to_gripper_z": -0.0025639913594610597,
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+              -0.20589834868583853,
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+              -0.18214458038186543,
+              1.053269957312039
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+              -0.194021464533852,
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+              0.011876884151986566,
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+            "object_to_finger_line_xy": 0.009274836985805335,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              1.2482346046306905
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+            "held_position": [
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+              -0.1838049751681915,
+              1.2458138646295778
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+            "object_initial_z": 0.7774145980897915,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006087182187288152,
+            "max_held_gripper_dist": 0.006099222244614204,
+            "held_gripper_max_dist": 0.15,
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+            "max_held_gripper_z_dist": 0.002540734979049164,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0866904096143016,
+            "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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+              -0.2075521110006099,
+              1.2458138646295778
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+              -0.1956785430844007,
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+            "held_grasp_object_position": [
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+              -0.1838049751681915,
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+            "held_grasp_finger_gap": 0.025243550737540504,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023919939187723557,
+            "held_grasp_world_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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+              -0.9990834844088857,
+              -0.036273984610230896
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004569960417693292,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
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+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    {
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+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
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+            "target": "beaker_b",
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+            "object_tilt_deg": 7.407603716106914,
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+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 237,
+            "max_placed_release_frames": 237
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "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": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
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+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5856bda3d43df2a003ed336e7eefde4d5821ef59d7385aabed971f70d5d45f6a",
+    "visual_seed": 3152544902466777723,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_130_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_130_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c4b68b5414cb893a0d046ff6eba1f3db418798b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_130_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 130,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+          "skill": "pick",
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+            "required_stable_lift_frames": 5
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+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_a"
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+              "robot_prim_substrings": [
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+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
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+            "disturbances": [],
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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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "target": "beaker_a",
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+            "force_virtual_attach": false,
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
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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_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
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+              ],
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+            },
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+            "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": {
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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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
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+              0.013601275637228455,
+              0.7565861218677139
+            ],
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.4675892975798845,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 200,
+            "max_placed_release_frames": 200
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 130,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
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+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6e9eeb4b403c69c1ac0748dfbd4521e81e941c36ac48edf98adc8b69b3caa500",
+    "visual_seed": 6157306435891380310,
+    "episode_index": 130,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_135_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_135_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cb07c888d2c1788a82d8e7a69fded4d87684139
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_135_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 135,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+      "target": "beaker_a",
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+            },
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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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "max_held_gripper_z_dist": 0.003693356818801785,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_z_skew": 0.024536962499119432,
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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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+              -0.9992818668994288,
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+            "held_grasp_object_to_finger_line_xy": 0.005277524277586907,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
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+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
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+              0.016681907578592788,
+              0.7565865169698168
+            ],
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+              0.011229679168317727,
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+            "object_z": 0.7565865169698168,
+            "min_z": 0.5730800627579278,
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18622972758640494,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.186430406819662,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 202,
+            "max_placed_release_frames": 202
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 135,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4bb81b87fb7f68561f6680f062e9fc368a79f1308e7777109131ff83ee93a2ed",
+    "visual_seed": 656923289604271581,
+    "episode_index": 135,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_137_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_137_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..35c0e9b71d5650e04d5fa555817037254cbd71e2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_137_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 137,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+            "required_stable_lift_frames": 5
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+            "disturbances": [],
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
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+          "metrics": {
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+            "max_held_gripper_z_dist": 0.002887662541669389,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_grasp_max_gap": 0.1249237185716629,
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+            "held_grasp_size_source": "beaker_a_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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+              -0.9989554731795347,
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+            "held_grasp_object_to_finger_line_xy": 0.004475652255648244,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
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+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
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+              0.01828455675004636,
+              0.7565863942462432
+            ],
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+              0.7730800627579277
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+            "xy_threshold": 0.08,
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+            "object_z": 0.7565863942462432,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18407829208447862,
+            "release_required_pad_clearance": 0.05721083429146996,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 10.022828201019541,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 243,
+            "max_placed_release_frames": 243
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 137,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "053c69651f352e0fe29347b4084644da41afcf65c836094cf87f12a6bb0dd389",
+    "visual_seed": 610681819849620560,
+    "episode_index": 137,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_15_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a2c5f7c50600cedcadbf2f881f226f59e9f9bea
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_15_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+      "target": "beaker_a",
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+            "stable_success_frames": 212,
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "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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+            "max_held_gripper_z_dist": 0.001965741450561831,
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+            "held_grasp_geometry_required": true,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02360289036425338,
+            "held_grasp_world_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": 0.003928581704798834,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
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+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.30673681355930243,
+              0.013689394743656163,
+              0.7565873911035961
+            ],
+            "target_position": [
+              0.32065858618381665,
+              0.009735764769153877,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.014472281885865699,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20539219849661441,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565873911035961,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525038644892974,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09074760119913898,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17842506542530737,
+            "release_required_pad_clearance": 0.05537380059956949,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.868631726134178,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 237,
+            "max_placed_release_frames": 237
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ab3952371dd919a07afc86f7e4d471fc2a113b3a6edcdd86dd85d4103e23fc50",
+    "visual_seed": 2094514186630034984,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_16_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..604740c0e27f03f12d1ffe662f88ac3c94e8721a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_16_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+              1.0510369578709011
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+            "lift_margin": 0.18993050946077972,
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+            "object_upright_reference_source": "scene_initial",
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+            "stable_success_frames": 209,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
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+            "gripper_position": [
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0057174777097148445,
+            "max_held_gripper_dist": 0.0057345064554194065,
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+            "held_gripper_z_dist": 0.001965768801067691,
+            "max_held_gripper_z_dist": 0.002106697161248672,
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+            "held_object_xy_range": 0.08683589950170884,
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+            "held_grasp_geometry_required": true,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023358727872629742,
+            "held_grasp_world_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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+              -0.9983355049307193,
+              -0.056874489400821515
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004456843225510007,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_top_clearance": 0.038123080831422525,
+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3117983949112332,
+              0.025262458788866876,
+              0.756586545601189
+            ],
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+              0.014880198078306272,
+              0.7730800627579277
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20760119365617444,
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+            "object_z": 0.756586545601189,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0762766709727393,
+            "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": 0.1817553879280386,
+            "release_required_pad_clearance": 0.05279967653048044,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6452809540142432,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 237,
+            "max_placed_release_frames": 237
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bbf5492bac89ed42bb38814f35117db325903ce12fecc5fa872cdf290ea070b9",
+    "visual_seed": 2953491908535568344,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_18_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd7ad44bc81bbd59f39f6043c2ef85676f885cf8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_18_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+            "fingertip_z_max_dist": 0.1,
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+            "stable_success_frames": 212,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+            },
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+          }
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
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+          "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",
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.30325814042646393,
+              0.008251074916877502,
+              0.7565861609617006
+            ],
+            "target_position": [
+              0.3169389553200409,
+              0.007446881763284674,
+              0.7730800627579277
+            ],
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+            "xy_dist": 0.013704430771856348,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20624868968502938,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565861609617006,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752932323146421,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08774721160739378,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17886634251579517,
+            "release_required_pad_clearance": 0.05387360580369689,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7562797193287407,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 238,
+            "max_placed_release_frames": 238
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1c20172f04be0f0bec1182fb45b02a0719631e70af45c907226a47170200a1a6",
+    "visual_seed": 211391753925280981,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_19_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..387ab04043b7378074a23831ae0c22ea68e41a35
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_19_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              1.0537496586569708
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+            "lift_margin": 0.19264315064220472,
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+              -0.18730942974328213,
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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": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              1.2490319924519726
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005775371565963172,
+            "max_held_gripper_dist": 0.005783823245541987,
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+            "max_held_gripper_z_dist": 0.0018559174691712421,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08671905007762926,
+            "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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+            "held_grasp_object_position": [
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023316252942563714,
+            "held_grasp_world_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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+              -0.9960300579271797,
+              -0.07722294912834958
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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/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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3011379383840528,
+              0.013916410730090884,
+              0.7565878302818515
+            ],
+            "target_position": [
+              0.3216441056470614,
+              0.010779700849983911,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.020744682323199065,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2015683737352545,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565878302818515,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578444319734769,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09190041126926661,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17425295713859068,
+            "release_required_pad_clearance": 0.05595020563463331,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 7.128065225712832,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 235,
+            "max_placed_release_frames": 235
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "432f0640a088bf9c8578c2c9e1668bbf2d40182bb0f1a2fc304cf84010919cc0",
+    "visual_seed": 307959170334038807,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_20_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..00691cadcdf13da4dacf38271495aec1af8f79c6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_20_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+            "stable_success_frames": 209,
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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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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "virtual_attach_allowed": false,
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+            "max_held_gripper_z_dist": 0.002203626879885956,
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+            "held_object_xy_range": 0.08618196322804345,
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+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3090601851138341,
+              0.011967831872023667,
+              0.7565863333729972
+            ],
+            "target_position": [
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+              0.009659386314907651,
+              0.7730800627579277
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+            "object_z": 0.7565863333729972,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538959091672971,
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18313498952878451,
+            "release_required_pad_clearance": 0.05516823586526508,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.430968051425096,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "84127c39ce6cc99c4bf4911a1788cfb4b5beff384ce65d4fe844212827bfb493",
+    "visual_seed": 6495904898851674728,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_22_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d591ed242d206a4a998dbd8b33088b9ec6d85548
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_22_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+          "failure_messages": {},
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+              "allowed_object_paths": [
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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",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "max_held_gripper_z_dist": 0.0030017449866939216,
+            "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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+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03235360696986635,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.32992808599207335,
+              0.001457403297056765,
+              0.756587444959739
+            ],
+            "target_position": [
+              0.32307952709568916,
+              0.005488568855554443,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.007946889625335248,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21875814550990622,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756587444959739,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551461139594402,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08639810695903304,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18799145696620706,
+            "release_required_pad_clearance": 0.05319905347951652,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4193831028780703,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 196,
+            "max_placed_release_frames": 196
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6564bba64764760df0c8ce6df878b520bd9fdd428053877672d486f2bb820976",
+    "visual_seed": 4739098972674118671,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_25_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..734c914bf2648665339c12f6ea90455c6af58383
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_25_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "object_position": [
+              0.31961303824776816,
+              -0.18627885669223743,
+              1.0518213764338515
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+            "lift_margin": 0.19071468960515148,
+            "gripper_z": 1.05442775837386,
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+              -0.19002878735143602,
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+              0.003749930659198597,
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+              -0.20948631584671568,
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+              -0.18627885669223743,
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+              -0.19788258626947655,
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+              0.011603729577239125,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.0090898260298214,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05522600823920666,
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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": 210,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              1.2447955890479645
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+            "held_position": [
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+              -0.1883625252151475,
+              1.242348918127019
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+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005585150918325775,
+            "max_held_gripper_dist": 0.005595937400096282,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002446670920945415,
+            "max_held_gripper_z_dist": 0.0025795635491616675,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08681204895490591,
+            "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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+              -0.9972645383133247,
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+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032148184095296316,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.30493117588527585,
+              0.013940245095290323,
+              0.7565863607184715
+            ],
+            "target_position": [
+              0.316893934838804,
+              0.014322514715828592,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.011968865102548557,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2070182028640991,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863607184715,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541889581774326,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09303118411988608,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17870996856651794,
+            "release_required_pad_clearance": 0.05651559205994304,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.400037706668932,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 239,
+            "max_placed_release_frames": 239
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "91422bb92de9913dbb9a2c4ee227be19830debccd6a804a1e50a5b8ab0608100",
+    "visual_seed": 6049565908231326994,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_30_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..52de0d7356e40216ddc7bfa0e3c5dbccdd0aa177
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_30_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+      "target": "beaker_a",
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+          "skill": "pick",
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+            "stable_success_frames": 211,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
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+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00527614938727675,
+            "max_held_gripper_dist": 0.005285064706239225,
+            "held_gripper_max_dist": 0.15,
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+            "held_grasp_geometry_frame": "object_local",
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+              -0.999509674430863,
+              0.02086279049273509
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+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0323396192878917,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3169294642135326,
+              0.007419818731690166,
+              0.7565866046636002
+            ],
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+              0.31962993201850637,
+              0.007234617314911549,
+              0.7730800627579277
+            ],
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+            "xy_dist": 0.002706811026000298,
+            "xy_threshold": 0.08,
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+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565866046636002,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515130094474165,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08526686759253686,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18388268166078847,
+            "release_required_pad_clearance": 0.05263343379626843,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3262581813468352,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 238,
+            "max_placed_release_frames": 238
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d5e87691fbc0b037e77ecdd6cfc5759d60058cedfd78ee5b765b1d0cce9bca51",
+    "visual_seed": 9015167228630614723,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_32_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f172c95f911faeaa137a19a5ffb5ab072059205
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_32_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+      "target": "beaker_a",
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+          "skill": "pick",
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+            "fingertip_z_max_dist": 0.1,
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+            "stable_success_frames": 208,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                {
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+                }
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+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              -0.19502924809273547,
+              1.244552370220227
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+              1.242001957318699
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+            "object_initial_z": 0.7774145980897915,
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+            ],
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+              0.0031989435360315543,
+              1.2409848521635058
+            ],
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+              0.3479732061204131,
+              0.01582621102435234,
+              1.2409848521635058
+            ],
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024925081921190414,
+            "held_grasp_world_z_skew": 0.0,
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+            "held_grasp_z_skew_frame": "object_local_up",
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+              -0.9972909961464901,
+              0.012759173649567468
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+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032290199233280505,
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+          },
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3116810948919584,
+              0.008404921540220047,
+              0.7565863600935441
+            ],
+            "target_position": [
+              0.31820388078354084,
+              0.011166337313037332,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.007083230397056921,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20844598200988687,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863600935441,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538481707860323,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08983278571682844,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17929033420546495,
+            "release_required_pad_clearance": 0.05491639285841422,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.898090564468335,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 237,
+            "max_placed_release_frames": 237
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ba3855dc5ecdb506c3e9d719c2c5bb4afa30a01804f662c9c2c672811fbac61b",
+    "visual_seed": 971934649484375356,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_34_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..29ef65122fa3dee43d1900997013857447ad04cf
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_34_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              1.052836274916015
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+              -0.21374364951829122,
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+              1.052836274916015
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+            "finger_midpoint": [
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+              -0.20203548078154993,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05634764106464131,
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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": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35185483428262443,
+              -0.010389213683062547,
+              1.2391295457435036
+            ],
+            "held_grasp_finger_b": [
+              0.3426908010355258,
+              0.015171820713100772,
+              1.2391295457435036
+            ],
+            "held_grasp_midpoint": [
+              0.34727281765907514,
+              0.0023913035150191124,
+              1.2391295457435036
+            ],
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+              0.35185483428262443,
+              0.015171820713100772,
+              1.2391295457435036
+            ],
+            "held_grasp_finger_gap": 0.027154115429447772,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024940819025948205,
+            "held_grasp_world_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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+              -0.9980219881048323,
+              0.009380162321247498
+            ],
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+            "held_grasp_object_to_finger_line_xy": 0.0037806355042331384,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03216016011270996,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.30182500089598896,
+              0.013068898906154435,
+              0.7565864110595438
+            ],
+            "target_position": [
+              0.32182965250762463,
+              0.013021582765913604,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.02000470756897098,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20419394361501367,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864110595438,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562149453895016,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09158853112975339,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17652164012483462,
+            "release_required_pad_clearance": 0.0557942655648767,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.7839973692966264,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 236,
+            "max_placed_release_frames": 236
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a451936958524023be263c84583f7013f8516f23a1a79b81ef547b4e24d2c115",
+    "visual_seed": 8324136069877566638,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_35_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..687c821e7f017da0414ba4ce75a685426a418bc4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_35_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              1.0496551599518764
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+            "gripper_z": 1.0525349911467698,
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+              -0.19320471608549233,
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+              -0.21311875379335773,
+              1.0496551599518764
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+              1.0496551599518764
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+              -0.2012769747952734,
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+              0.011841778998084307,
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+            "object_to_finger_line_xy": 0.00887658307841175,
+            "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": 209,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+            "held_gripper_z_dist": 0.0023436066241058207,
+            "max_held_gripper_z_dist": 0.0023503949579517514,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08749629642425386,
+            "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": [
+              0.34717702991113575,
+              -0.007620084538779675,
+              1.238127521608401
+            ],
+            "held_grasp_finger_b": [
+              0.3375802515715506,
+              0.01809271739862891,
+              1.238127521608401
+            ],
+            "held_grasp_midpoint": [
+              0.34237864074134317,
+              0.005236316429924617,
+              1.238127521608401
+            ],
+            "held_grasp_object_position": [
+              0.34717702991113575,
+              0.01809271739862891,
+              1.238127521608401
+            ],
+            "held_grasp_finger_gap": 0.027445333628351717,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025275332495908093,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0429222854341573,
+              -0.9990061844515163,
+              0.012013360925728023
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004244996648164377,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03215064305871672,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.32132512437643435,
+              0.016815552209663638,
+              0.7565863734628272
+            ],
+            "target_position": [
+              0.31701330512025855,
+              0.012889845793850437,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.005831205378057382,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21643724689226573,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863734628272,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515187095874946,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08710535835972304,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1881980162968729,
+            "release_required_pad_clearance": 0.05355267917986152,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1166481266904116,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 244,
+            "max_placed_release_frames": 244
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6dbed2a34773f16fc48818f37e60ab02399d807bb0ac19a5a309d64fb0eff4e2",
+    "visual_seed": 4971570096726053072,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_37_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d302fbe35bfd366a215b3bf0b1007f5a6dfa39c6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_37_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.32285931761938247,
+              -0.1815268743480653,
+              1.0514484882029156
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+            "lift_margin": 0.19034203979279418,
+            "gripper_z": 1.0533034724376797,
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+            "gripper_position": [
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+              -0.1855164817738138,
+              1.0533034724376797
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+              0.003989607425748498,
+              -0.0018549842347641565
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+            "object_to_gripper_z": -0.0018549842347641565,
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+              0.32285931761938247,
+              -0.20514286470830473,
+              1.0514484882029156
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+            "finger_b": [
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+              -0.1815268743480653,
+              1.0514484882029156
+            ],
+            "finger_midpoint": [
+              0.31777409554648417,
+              -0.19333486952818502,
+              1.0514484882029156
+            ],
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+              0.011807995180119712,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.009341037528696982,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04958957777468591,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.8257994640668342,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006768940061162054,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0020646001565269856,
+            "max_held_gripper_z_dist": 0.0020683433740618096,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08636702165520428,
+            "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": [
+              0.344764412808992,
+              -0.011774553655927436,
+              1.237468573032843
+            ],
+            "held_grasp_finger_b": [
+              0.3358503707163136,
+              0.01367509725486251,
+              1.237468573032843
+            ],
+            "held_grasp_midpoint": [
+              0.3403073917626528,
+              0.0009502717994675372,
+              1.237468573032843
+            ],
+            "held_grasp_object_position": [
+              0.344764412808992,
+              0.01367509725486251,
+              1.237468573032843
+            ],
+            "held_grasp_finger_gap": 0.02696562400374066,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024709868023800423,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07487465694666534,
+              -0.9971572481074222,
+              0.00843850069336882
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003493437107176886,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03217785511021313,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.31698795076538966,
+              0.010531935947326432,
+              0.7565862333450548
+            ],
+            "target_position": [
+              0.3149880374173757,
+              0.009565852059281349,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0022210293735799073,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2183901024946196,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565862333450548,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564695272737369,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08720201577300267,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18881187251675874,
+            "release_required_pad_clearance": 0.05360100788650134,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.212474959076212,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 200,
+            "max_placed_release_frames": 200
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e8062cdea0f2d8a30b52963e1d3ef4e59647e0304345c8d7cdbf8130b74a446c",
+    "visual_seed": 6297902683241756541,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_39_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc70d1b361b2c56985a7525b74dfb8e804185d3d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_39_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.31609529753396115,
+              -0.1892595830304253,
+              1.051122521143845
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+            "lift_margin": 0.19001601312907912,
+            "gripper_z": 1.0544366356520924,
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+            "gripper_position": [
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+              -0.19300580035614018,
+              1.0544366356520924
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+              0.003292584133408605,
+              0.003746217325714868,
+              -0.0033141145082473678
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+            "object_to_gripper_z": -0.0033141145082473678,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.31609529753396115,
+              -0.2128036363298151,
+              1.051122521143845
+            ],
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+              -0.1892595830304253,
+              1.051122521143845
+            ],
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+              0.31132056474190917,
+              -0.2010316096801202,
+              1.051122521143845
+            ],
+            "object_minus_finger_midpoint": [
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+              0.0117720266496949,
+              0.0
+            ],
+            "finger_gap": 0.02540698208576719,
+            "fingertip_max_gap": 0.1005398154800233,
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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": 1.104395936252412,
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+            "fingertip_min_top_clearance": 0.015982024532570093,
+            "object_projection_between_fingers": 0.8587293403637515,
+            "object_to_finger_line_xy": 0.008849265368624126,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.052769907740011654,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 4.202146465123596,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
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+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34722189073677334,
+              0.005370417587082274,
+              1.242269031160512
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+              0.35216279981678444,
+              0.00954780701567582,
+              1.2404165714442497
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006730139075489903,
+            "max_held_gripper_dist": 0.006730860227349745,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0018524597162623557,
+            "max_held_gripper_z_dist": 0.0018570592296760502,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08637612691956728,
+            "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": [
+              0.35216279981678444,
+              -0.015882474315948032,
+              1.2404165714442497
+            ],
+            "held_grasp_finger_b": [
+              0.343066710436577,
+              0.00954780701567582,
+              1.2404165714442497
+            ],
+            "held_grasp_midpoint": [
+              0.3476147551266807,
+              -0.003167333650136106,
+              1.2404165714442497
+            ],
+            "held_grasp_object_position": [
+              0.35216279981678444,
+              0.00954780701567582,
+              1.2404165714442497
+            ],
+            "held_grasp_finger_gap": 0.027008110830235042,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02492123553171887,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05185857979417675,
+              -0.9985318478203344,
+              0.01564725503849551
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038877247906749105,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03226789692301289,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.31133842743753065,
+              0.009418428825133322,
+              0.7565867024320545
+            ],
+            "target_position": [
+              0.32252346274053345,
+              0.007211632504480584,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.011400656328925339,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20948941772945145,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565867024320545,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565063525027788,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08579677892871655,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18143509871704527,
+            "release_required_pad_clearance": 0.05289838946435828,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8346186835525674,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 238,
+            "max_placed_release_frames": 238
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "93024a3a933075bd2611fba894469c3d11589edff71953715d8985dde935beca",
+    "visual_seed": 1809062791230627272,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_3_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8554558f05c3d0bee32c02849f26ecaa9187bee6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_3_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3242246592886855,
+              -0.18808122618668388,
+              1.050992565314318
+            ],
+            "current_z": 1.050992565314318,
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+            "lift_margin": 0.18988605729955177,
+            "gripper_z": 1.052717404633085,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3207635844150672,
+              -0.1920657733321974,
+              1.052717404633085
+            ],
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+              0.0034610748736182972,
+              0.003984547145513523,
+              -0.0017248393187669908
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+            "object_to_gripper_z": -0.0017248393187669908,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3242246592886855,
+              -0.2112963467136678,
+              1.050992565314318
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+              -0.18808122618668388,
+              1.050992565314318
+            ],
+            "finger_midpoint": [
+              0.3189907736867471,
+              -0.19968878645017585,
+              1.050992565314318
+            ],
+            "object_minus_finger_midpoint": [
+              0.005233885601938382,
+              0.011607560263491967,
+              0.0
+            ],
+            "finger_gap": 0.025465978384093202,
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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": 1.050992565314318,
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+            "fingertip_min_top_clearance": 0.015327495484093961,
+            "object_projection_between_fingers": 0.8310385176713524,
+            "object_to_finger_line_xy": 0.00954255777970356,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050300553080791885,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.138103480262993,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3424319117344831,
+              0.015073824452321818,
+              1.2412897640410876
+            ],
+            "held_position": [
+              0.34758855749755063,
+              0.01930793445287557,
+              1.2393565726172933
+            ],
+            "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": 0.0069466475442175254,
+            "max_held_gripper_dist": 0.006950407885430511,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0019331914237943337,
+            "max_held_gripper_z_dist": 0.0019378822326665546,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08760674431531124,
+            "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": [
+              0.34758855749755063,
+              -0.006310932024239956,
+              1.2393565726172933
+            ],
+            "held_grasp_finger_b": [
+              0.33852019374001585,
+              0.019308068307438725,
+              1.2393565726172933
+            ],
+            "held_grasp_midpoint": [
+              0.34305437561878327,
+              0.006498568141599385,
+              1.2393565726172933
+            ],
+            "held_grasp_object_position": [
+              0.34758855749755063,
+              0.01930793445287557,
+              1.2393565726172933
+            ],
+            "held_grasp_finger_gap": 0.027176614933312106,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02485087057521922,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0764096141340232,
+              -0.9970639142844986,
+              0.0050121551815534016
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003542765090632693,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03208201296421566,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3119608065180725,
+              0.013453030870799987,
+              0.7565863333750631
+            ],
+            "target_position": [
+              0.31746196123954157,
+              0.014353577058111282,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.00557437769666016,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21172517880585734,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863333750631,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556704905261112,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08502610735263764,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1826425126797967,
+            "release_required_pad_clearance": 0.052513053676318824,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.09691267176636384,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 198,
+            "max_placed_release_frames": 198
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d1a658ed893514a4933ac5372def5901a905228fc46e367059e4ac697e1bebb0",
+    "visual_seed": 3098686302332928543,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_40_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..17037b38c6be3f6135314609d52dc4b92db838d6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_40_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31740354260472314,
+              -0.18626912220055863,
+              1.0530116391202635
+            ],
+            "current_z": 1.0530116391202635,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.19190513110549767,
+            "gripper_z": 1.055416804126695,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3140195646667773,
+              -0.19009358946211102,
+              1.055416804126695
+            ],
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+              0.00338397793794587,
+              0.003824467261552389,
+              -0.002405165006431398
+            ],
+            "object_to_gripper_xy": 0.005106648266641282,
+            "object_to_gripper_z": -0.002405165006431398,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31740354260472314,
+              -0.20967287759490835,
+              1.0530116391202635
+            ],
+            "finger_b": [
+              0.30747948215786813,
+              -0.18626912220055863,
+              1.0530116391202635
+            ],
+            "finger_midpoint": [
+              0.31244151238129564,
+              -0.19797099989773348,
+              1.0530116391202635
+            ],
+            "object_minus_finger_midpoint": [
+              0.004962030223427505,
+              0.011701877697174845,
+              0.0
+            ],
+            "finger_gap": 0.025420911516139337,
+            "fingertip_max_gap": 0.1024276900721783,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012710455758069655,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0530116391202635,
+            "object_top_z": 1.1075486028689019,
+            "finger_top_clearance": 0.05453696374863837,
+            "fingertip_min_top_clearance": 0.01636108912459151,
+            "object_projection_between_fingers": 0.847595930467307,
+            "object_to_finger_line_xy": 0.009136583598486502,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.053713845036089156,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 4.98989428749301,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": 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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+            "gripper_position": [
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+              0.012097993934597984,
+              1.240878390222866
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+              0.01630512349214871,
+              1.2388879449075212
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+            "required_gripper_z": 0.8930800627579277,
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+            "effective_shake_count": 5,
+            "min_shake_count": 3,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0019904453153447577,
+            "max_held_gripper_z_dist": 0.0019949864857733424,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08654588004517504,
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+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              -0.0092525386473529,
+              1.2388879449075212
+            ],
+            "held_grasp_finger_b": [
+              0.33856733982888587,
+              0.01630512349214871,
+              1.2388879449075212
+            ],
+            "held_grasp_midpoint": [
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+              0.0035262924223979043,
+              1.2388879449075212
+            ],
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+              0.34764365786739143,
+              0.01630512349214871,
+              1.2388879449075212
+            ],
+            "held_grasp_finger_gap": 0.027121460933604135,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024765390163965374,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07838034867782415,
+              -0.9968358998359887,
+              0.013217781179810869
+            ],
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+            "held_grasp_object_to_finger_line_xy": 0.003526748439376727,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03210612491125919,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2936871210616796,
+              0.013110875189971137,
+              0.7565865170699143
+            ],
+            "target_position": [
+              0.3176176515388606,
+              0.012670993860720094,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.023934572996047235,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2008783711780959,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865170699143,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539854552120462,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08911024351599638,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1740042636346101,
+            "release_required_pad_clearance": 0.05455512175799819,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.145275570725505,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 238,
+            "max_placed_release_frames": 238
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bc7caa4efb043dc721082ab84d2f9c08d22eb4d52b73ea311cf6689873e1b8b2",
+    "visual_seed": 7882197778117383128,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_41_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1c062da31256fd9d2c2a7e4501f24d61b3b9ead
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_41_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
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+          "metrics": {
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+              1.0489922011299195
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+              -0.2085158599845143,
+              1.0489922011299195
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+              -0.18484839933208036,
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+              -0.19668212965829734,
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+              0.011833730326216985,
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+            "object_to_finger_line_xy": 0.00905035358119778,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
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+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
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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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+        "post_done_wait_frames": 0,
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+      },
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+        "target": "beaker_b",
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+        "attach_object": null,
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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,
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+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "gripper_position": [
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+              0.012850532190480116,
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+              0.01703398682515022,
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+            "held_gripper_z_dist": 0.0019506107314106735,
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+            "held_motion_ok": true,
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+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3484261023565829,
+              -0.008513649027791243,
+              1.2367773482153008
+            ],
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+              0.3394746797719096,
+              0.017047722571443245,
+              1.2367773482153008
+            ],
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+              0.004267036771826001,
+              1.2367773482153008
+            ],
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+              0.3484261023565829,
+              0.01703398682515022,
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+            "held_grasp_z_skew": 0.024746649834532397,
+            "held_grasp_world_z_skew": 0.0,
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+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0813170248950856,
+              -0.9966035190560596,
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+            "held_grasp_object_to_finger_line_xy": 0.0034268544425742663,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03211268608847276,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.29350728325051895,
+              0.01609743136487883,
+              0.7565890674044045
+            ],
+            "target_position": [
+              0.31847556439521624,
+              0.014906725355345318,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.02499665665887711,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20017637372070843,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565890674044045,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590903637208019,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08838991594147182,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17319885575234298,
+            "release_required_pad_clearance": 0.05419495797073591,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.404987229337291,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 234,
+            "max_placed_release_frames": 234
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7e4b39b2186c57a1a9a27a95e69d7018c0abb51cac32e025da4740b593f5fb84",
+    "visual_seed": 2266165326301936760,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_42_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..72f862a415609221c259427e5a2c612b8cc3e3d8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_42_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
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+              -0.18861174088431906,
+              1.0518889185633435
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+            "lift_margin": 0.19078247015322236,
+            "gripper_z": 1.0537286117401259,
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+            "gripper_position": [
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+              -0.1926888029886239,
+              1.0537286117401259
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+              0.0036174134847736794,
+              0.004077062104304835,
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+            "object_to_gripper_z": -0.0018396931767823421,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3235400158855344,
+              -0.21191295302065408,
+              1.0518889185633435
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+              -0.18861174088431906,
+              1.0518889185633435
+            ],
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+              0.31821962692851163,
+              -0.20026234695248657,
+              1.0518889185633435
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+              0.011650606068167507,
+              0.0
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+            "fingertip_max_gap": 0.09525099703070686,
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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": 0.01533899363774871,
+            "object_projection_between_fingers": 0.8274445665194116,
+            "object_to_finger_line_xy": 0.009679275098111825,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05012549851535343,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.830376024960972,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
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+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
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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": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "shake",
+      "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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+              0.009771478636525,
+              1.2386270880202217
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+              0.014260727312736607,
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+            "required_gripper_z": 0.8930800627579277,
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+            "held_gripper_z_dist": 0.0022495968510973796,
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+            "held_gripper_z_max_dist": 0.15,
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+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3497049681843822,
+              -0.01149450694072732,
+              1.2363774911691243
+            ],
+            "held_grasp_finger_b": [
+              0.3401068192025749,
+              0.014260727312736607,
+              1.2363774911691243
+            ],
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+              0.001383110186004643,
+              1.2363774911691243
+            ],
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+              0.3497049681843822,
+              0.014260727312736607,
+              1.2363774911691243
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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": 0.025293823230934848,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.045037168877792653,
+              -0.9988686740087681,
+              0.01526517289252127
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+            "held_grasp_object_to_finger_line_xy": 0.004218892826600982,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03212103989373548,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
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+          "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.31254175153072794,
+              0.011260209999107063,
+              0.7565865981352855
+            ],
+            "target_position": [
+              0.3194889242813517,
+              0.011509805941096483,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.006951655008792313,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21036602933030102,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865981352855,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569205224256007,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08651410602572439,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1813345155757181,
+            "release_required_pad_clearance": 0.053257053012862196,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5338765340821765,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 235,
+            "max_placed_release_frames": 235
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5a8deded962f8e7f44068ba1a61e341322fbd52df1b2ee2842a552bd4abe084f",
+    "visual_seed": 5721805560981670734,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_46_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e65b5f4cf6eae17ebf0bb5100ff0181d005a07b2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_46_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
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+          "metrics": {
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+              1.051645981104834
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+            "lift_margin": 0.1905395326947128,
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+              1.0545338901134147
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+            "object_to_gripper_z": -0.0028879090085807135,
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+              -0.21069480306357063,
+              1.051645981104834
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+              -0.1871653529627503,
+              1.051645981104834
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+              -0.19893007801316048,
+              1.051645981104834
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+              0.01176472505041018,
+              0.0
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+            "finger_gap": 0.02543668847615762,
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+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.00893926111712339,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05365804912584733,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 4.664829969575553,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
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+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
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+              ],
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+                "base_link",
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+            },
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object": null,
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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": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
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+            "gripper_position": [
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+              0.0042526947808652765,
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+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
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+            "held_gripper_z_dist": 0.001794701144075983,
+            "max_held_gripper_z_dist": 0.001799031229803294,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08676780768324749,
+            "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": [
+              0.35461485992229924,
+              -0.01714103282716217,
+              1.2390290961139767
+            ],
+            "held_grasp_finger_b": [
+              0.3457877103555621,
+              0.008560023518262797,
+              1.2390290961139767
+            ],
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+              -0.004290504654449686,
+              1.2390290961139767
+            ],
+            "held_grasp_object_position": [
+              0.35461485992229924,
+              0.008398115319917406,
+              1.2390290961139767
+            ],
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025017087967597405,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07014192938245002,
+              -0.997478116253354,
+              0.010840541414884886
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+            "held_grasp_object_to_finger_line_xy": 0.003515457891835417,
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+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03223402756514521,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3160404417307676,
+              0.005901054646768844,
+              0.7565862061553267
+            ],
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+              0.32455534194896796,
+              0.0065847444765389125,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.008542303993024317,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21011150917028687,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565862061553267,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517047428564316,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08574005816721252,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1820813244303757,
+            "release_required_pad_clearance": 0.05287002908360626,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7813412968389793,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 236,
+            "max_placed_release_frames": 236
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dce750804342b91d2478f5415cdd93a9714d291458b6e5ba1c7f79e6f29cac20",
+    "visual_seed": 4660849087911605883,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_50_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbdcaaed59c6b25f66095826eab22808defc3c0f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_50_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "passed": true,
+          "metrics": {
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+              0.3241407094376246,
+              -0.1821939846430476,
+              1.0514880152814499
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+            "current_z": 1.0514880152814499,
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+            "lift_margin": 0.19038150726668412,
+            "gripper_z": 1.0530721515649146,
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+              -0.18606754911509388,
+              1.0530721515649146
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+              0.003873564472046287,
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+            "object_to_gripper_z": -0.0015841362834647654,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
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+              -0.20542676488468956,
+              1.0514880152814499
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+            "finger_b": [
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+              -0.1821939846430476,
+              1.0514880152814499
+            ],
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+              0.31904756693281533,
+              -0.1938103747638686,
+              1.0514880152814499
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+              0.011616390120820996,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_top_z": 1.1024410129458992,
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+            "object_to_finger_line_xy": 0.009329001149743018,
+            "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": 3.053903365536916,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
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+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
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+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
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+                "floor",
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+                "workbench"
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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": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "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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+              0.011098965303525651,
+              1.2394840806676877
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+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006940992618563345,
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+            "held_gripper_z_dist": 0.0018201346743562663,
+            "max_held_gripper_z_dist": 0.001826077372321766,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08710368752808413,
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+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3508780518867075,
+              -0.01026853909181168,
+              1.2376639459933314
+            ],
+            "held_grasp_finger_b": [
+              0.341781978082032,
+              0.015346590503851244,
+              1.2376639459933314
+            ],
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+              0.002539025706019782,
+              1.2376639459933314
+            ],
+            "held_grasp_object_position": [
+              0.3508780518867075,
+              0.015346590503851244,
+              1.2376639459933314
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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": 0.024871295001186556,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
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+            "held_grasp_local_up_axis": [
+              -0.07402703997686186,
+              -0.9972485333309772,
+              0.00391919908643945
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+            "held_grasp_object_to_finger_line_xy": 0.003587812448454368,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032091222046046294,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
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+          "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3078132385764886,
+              0.011496469286302578,
+              0.7565907604014875
+            ],
+            "target_position": [
+              0.32079181135228785,
+              0.011381728303557088,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.012979079967002214,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2073720355605186,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565907604014875,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530771482317238,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0929868374057458,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17929625765554008,
+            "release_required_pad_clearance": 0.0564934187028729,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.334591574311501,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 235,
+            "max_placed_release_frames": 235
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a2916ecc672ab7637f5af591814475c90a3722b5bd4939201204f461d447bb6c",
+    "visual_seed": 6435379341677346118,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_53_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8f74f66989545abbd52f08a241538df36dcfaba
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_53_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+              1.052463019042556
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+            "lift_margin": 0.19135651102778994,
+            "gripper_z": 1.0542629443754492,
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+              -0.1891856247534034,
+              1.0542629443754492
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+              0.0038689906655113016,
+              -0.001799925332893304
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+            "object_to_gripper_z": -0.001799925332893304,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.20850798657474803,
+              1.052463019042556
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+              -0.1853166340878921,
+              1.052463019042556
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+              0.3186249851638826,
+              -0.19691231033132006,
+              1.052463019042556
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+              0.011595676243427971,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.009312493664049125,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.052659384261787665,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 4.233264809059821,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
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+                "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",
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+                "ground",
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+              ],
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+            },
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+              "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": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "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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+              0.009852810426606573,
+              1.2416223088166725
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+              1.239910226174224
+            ],
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+            "required_gripper_z": 0.8930800627579277,
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+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006771531541558605,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001712082642448376,
+            "max_held_gripper_z_dist": 0.0017174087646092406,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08768095894390537,
+            "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": [
+              0.3526893650820684,
+              -0.0115072342299751,
+              1.239910226174224
+            ],
+            "held_grasp_finger_b": [
+              0.3436800480979084,
+              0.014065799771153943,
+              1.239910226174224
+            ],
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+              0.3481847065899884,
+              0.0012792827705894218,
+              1.239910226174224
+            ],
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+              0.3526893650820684,
+              0.014027478492282244,
+              1.239910226174224
+            ],
+            "held_grasp_finger_gap": 0.02711361024548327,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02485078972408597,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
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+            "held_grasp_local_up_axis": [
+              -0.07236471965902266,
+              -0.9972514962768219,
+              0.015899701956674228
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003576224951705608,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032161089358583826,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3118664612237677,
+              0.011444048842769438,
+              0.7565885359124267
+            ],
+            "target_position": [
+              0.32270997459918793,
+              0.009151585131937546,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.011083193230671312,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20577940011875842,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565885359124267,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585309200077343,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08903534292534386,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17742224595468126,
+            "release_required_pad_clearance": 0.05451767146267193,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.0617137334261715,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 235,
+            "max_placed_release_frames": 235
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "54d32a75f62872ea8cf36dac811ff057e3534d13b8fec0f7021f1f4132135d1c",
+    "visual_seed": 4362489177193432006,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_54_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c586723be95441e42235041a554d58209005768
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_54_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
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+              1.0522939808206488
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+            "current_z": 1.0522939808206488,
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+            "lift_margin": 0.1911874132012379,
+            "gripper_z": 1.0540879193088284,
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+            "gripper_position": [
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+              -0.18332896750122704,
+              1.0540879193088284
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+              0.003965225647141496,
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+            "object_to_gripper_z": -0.0017939384881795473,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.31914126141951465,
+              -0.20268110505294606,
+              1.0522939808206488
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+              -0.17936374185408555,
+              1.0522939808206488
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+              -0.1910224234535158,
+              1.0522939808206488
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+              0.01165868159943026,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "object_projection_between_fingers": 0.8357912044085509,
+            "object_to_finger_line_xy": 0.009448821513667159,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04993846788401414,
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+            "object_tilt_deg": 2.598775972157454,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
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+                "gripper_center",
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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",
+                "caster",
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+                "workbench"
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+            },
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+            "forbidden": [],
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+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": 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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+            "gripper_position": [
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+              0.005232553700937823,
+              1.243029223257969
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+              0.009499581524282538,
+              1.2409758424702917
+            ],
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+            "required_gripper_z": 0.8930800627579277,
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+            "held_shake_count": 5,
+            "effective_shake_count": 5,
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+            "held_gripper_dist": 0.007009731501916728,
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+            "held_gripper_z_dist": 0.0020533807876772503,
+            "max_held_gripper_z_dist": 0.0020615516771536058,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08661103567430563,
+            "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": [
+              0.3448416698539782,
+              -0.016081441595518015,
+              1.2409758424702917
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+            "held_grasp_finger_b": [
+              0.33560987370011997,
+              0.009499581524282538,
+              1.2409758424702917
+            ],
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+              -0.003290930035617739,
+              1.2409758424702917
+            ],
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+              0.009499581524282538,
+              1.2409758424702917
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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": 0.025177138487792083,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
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+            "held_grasp_local_up_axis": [
+              -0.04076105083838585,
+              -0.9989215865400596,
+              0.022230624796455874
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0322353580095577,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3197932180945929,
+              0.005811921782377713,
+              0.7565887357858094
+            ],
+            "target_position": [
+              0.31492010620558064,
+              0.005554823616803479,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.004879889235379638,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.216888660581969,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565887357858094,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571663248674895,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08787729625723299,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18676502192479943,
+            "release_required_pad_clearance": 0.0539386481286165,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8864004108367043,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 200,
+            "max_placed_release_frames": 200
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dfd19818e86a9059f0b11982f81934cf4b7eb94b23d60557d05e42f220b76ce0",
+    "visual_seed": 5340084070095352380,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_56_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..14677e5ee97b0756c42fd6a4bc8b235c5463d8dd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_56_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              1.0533255849544618
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+            "current_z": 1.0533255849544618,
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+            "lift_margin": 0.19221895773040631,
+            "gripper_z": 1.0556363121743957,
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+              -0.1919924824986372,
+              1.0556363121743957
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+              0.003984106532256948,
+              -0.0023107272199338613
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+            "object_to_gripper_z": -0.0023107272199338613,
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+              0.317217163509324,
+              -0.2118352258046865,
+              1.0533255849544618
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+              -0.18800837596638026,
+              1.0533255849544618
+            ],
+            "finger_midpoint": [
+              0.3122331018195642,
+              -0.19992180088553338,
+              1.0533255849544618
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+              0.01191342491915312,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.8510476291677626,
+            "object_to_finger_line_xy": 0.009195817377300942,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05058664276233203,
+            "require_object_upright": true,
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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",
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+                "table",
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+                "workbench"
+              ],
+              "enabled": true
+            },
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34941590097491504,
+              0.00817657111384161,
+              1.2435039419352545
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+              0.3544320197676767,
+              0.012338818240015235,
+              1.2417602473258196
+            ],
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006747312040613619,
+            "max_held_gripper_dist": 0.006748209456091258,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0017436946094349093,
+            "max_held_gripper_z_dist": 0.0017491835283516277,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08766810803878859,
+            "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": [
+              0.3544320197676767,
+              -0.013166199389793486,
+              1.2417602473258196
+            ],
+            "held_grasp_finger_b": [
+              0.3454235805886746,
+              0.012338818240015235,
+              1.2417602473258196
+            ],
+            "held_grasp_midpoint": [
+              0.34992780017817565,
+              -0.00041369057488912543,
+              1.2417602473258196
+            ],
+            "held_grasp_object_position": [
+              0.3544320197676767,
+              0.012338818240015235,
+              1.2417602473258196
+            ],
+            "held_grasp_finger_gap": 0.02704917560182996,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024852064071420817,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06603972011819789,
+              -0.9977244181067741,
+              0.013591941738000934
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003656421561036613,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03217927812801726,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.30842470642685904,
+              0.012652205379595665,
+              0.7565865519833123
+            ],
+            "target_position": [
+              0.3245102237746356,
+              0.00916845783316759,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.016458443587194536,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20502166719748763,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865519833123,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07591296745149322,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09295863247473977,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17754841423812023,
+            "release_required_pad_clearance": 0.05647931623736989,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.31671749959152,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 229,
+            "max_placed_release_frames": 229
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "366c8f6856408b525e20344a7159ae603c5669a966471ecfc3d354aed2fd397f",
+    "visual_seed": 8322213945267685477,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_59_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7971b54f5b16a903db9e306d7598cc0b85c136e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_59_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3246926059651886,
+              -0.1811815961753623,
+              1.049585802523615
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+            "current_z": 1.049585802523615,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.18847935411349392,
+            "gripper_z": 1.0519317220998874,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3210963811332005,
+              -0.1851042332749419,
+              1.0519317220998874
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+              0.0035962248319881263,
+              0.003922637099579601,
+              -0.0023459195762722818
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+            "object_to_gripper_xy": 0.005321645878598678,
+            "object_to_gripper_z": -0.0023459195762722818,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3246926059651886,
+              -0.2048167039570995,
+              1.049585802523615
+            ],
+            "finger_b": [
+              0.3147097121706336,
+              -0.1811815961753623,
+              1.049585802523615
+            ],
+            "finger_midpoint": [
+              0.3197011590679111,
+              -0.19299915006623092,
+              1.049585802523615
+            ],
+            "object_minus_finger_midpoint": [
+              0.0049914468972775405,
+              0.01181755389086861,
+              0.0
+            ],
+            "finger_gap": 0.025656899430127937,
+            "fingertip_max_gap": 0.09812787052840635,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012828449715063991,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049585802523615,
+            "object_top_z": 1.1021816975941596,
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+                "fr3_joint4",
+                "fr3_joint5",
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "geometry",
+                "gripper",
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+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "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": {
+            "held": "beaker_b",
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+            "gripper_position": [
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+              0.012711980774119669,
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+              0.017089139968147822,
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+            "held_gripper_z_dist": 0.0020812681198056904,
+            "max_held_gripper_z_dist": 0.0020885775371739523,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08641499918943263,
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+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3489624949140345,
+              -0.00857801807338825,
+              1.2363609378947369
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+              0.017089139968147822,
+              1.2363609378947369
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+              0.004255560947379786,
+              1.2363609378947369
+            ],
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+              0.017089139968147822,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
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+            "held_grasp_local_up_axis": [
+              -0.04556173107615988,
+              -0.9989127180618808,
+              0.009874733189783824
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004115023745345063,
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+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03216633911181792,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3104398373814279,
+              0.02093379991400862,
+              0.7565917311815379
+            ],
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+              0.011250687925268253,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20891092626017121,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565917311815379,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756975528789354,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08950016589624031,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18232213131019723,
+            "release_required_pad_clearance": 0.05475008294812016,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.533677929807801,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 239,
+            "max_placed_release_frames": 239
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "be0dc3a0e28fee0052cdbbcb4cdb3bf05295ffd3ee41fb96eab24189e5ecb094",
+    "visual_seed": 2316947706373479443,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_5_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7003d56bd8d8b7c00f2055ac52dbff39f61b8e55
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_5_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              -0.17984210940471634,
+              1.0516617978466303
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+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.1905553494365092,
+            "gripper_z": 1.0548508949706894,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.1838606320905702,
+              1.0548508949706894
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+              0.0038957907354170707,
+              0.0040185226858538425,
+              -0.003189097124059126
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+            "object_to_gripper_xy": 0.0055969375582441035,
+            "object_to_gripper_z": -0.003189097124059126,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31946493061392667,
+              -0.20379031619150528,
+              1.0516617978466303
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+            "finger_b": [
+              0.3094691204388612,
+              -0.17984210940471634,
+              1.0516617978466303
+            ],
+            "finger_midpoint": [
+              0.31446702552639394,
+              -0.1918162127981108,
+              1.0516617978466303
+            ],
+            "object_minus_finger_midpoint": [
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+              0.01197410339339447,
+              0.0
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+            "finger_gap": 0.025950584374128186,
+            "fingertip_max_gap": 0.0980919683913968,
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
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+                "geometry",
+                "gripper",
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+                "panda_joint4",
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+                "panda_joint6",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
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+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "base_link",
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+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
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+              0.009717651759417842,
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+              1.236563839208957
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+            "held_gripper_z_dist": 0.0017405491715962729,
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+            "held_gripper_z_max_dist": 0.15,
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+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.35183843894897576,
+              -0.011641254885234547,
+              1.236563839208957
+            ],
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+              0.01390917426851676,
+              1.236563839208957
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+              0.0011339596916411067,
+              1.236563839208957
+            ],
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+              0.01390917426851676,
+              1.236563839208957
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024794664858516006,
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+            "held_grasp_z_skew_max": 0.08,
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+            "held_grasp_local_up_axis": [
+              -0.0759556744694876,
+              -0.9971042577561132,
+              0.0037195000357252974
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03212111569836742,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.32028954515935526,
+              0.00190974107726616,
+              0.7565863279938823
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+              0.008844081570824345,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.007098746895879724,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21497970881531064,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863279938823,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535674858994204,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08587265719303265,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18437293748400743,
+            "release_required_pad_clearance": 0.05293632859651633,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.909990073907167,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 199,
+            "max_placed_release_frames": 199
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9a03695d4ac5c28e2013a1883f8dff9a74b9c6712be2def90ae3eed2eb618d57",
+    "visual_seed": 5817730363094935170,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_61_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..526c84fe398525bdb0738e5428797b731e23421b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_61_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              1.0493616596382715
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+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1882551516235056,
+            "gripper_z": 1.0525656461169188,
+            "force_virtual_attach": false,
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+            "gripper_position": [
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+              -0.19311213335317723,
+              1.0525656461169188
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+            "object_minus_gripper": [
+              0.0036532040557226697,
+              0.003947897960547869,
+              -0.0032039864786472805
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+            "object_to_gripper_xy": 0.005378828699600554,
+            "object_to_gripper_z": -0.0032039864786472805,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32005570648855475,
+              -0.2129420428142205,
+              1.0493616596382715
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+            "finger_b": [
+              0.31015953486264686,
+              -0.18916423539262936,
+              1.0493616596382715
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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",
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+                "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": [],
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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": "shake",
+      "target": "beaker_b",
+      "success": 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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+            "gripper_position": [
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+              0.004948758056216487,
+              1.2394935020938789
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+              0.009283847453233046,
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+            "held_gripper_z_dist": 0.001978784609721229,
+            "max_held_gripper_z_dist": 0.0019847643334185427,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08730109856555357,
+            "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",
+            "held_grasp_finger_a": [
+              0.3476394997713111,
+              -0.016469007304084102,
+              1.2375147174841576
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+            "held_grasp_finger_b": [
+              0.33840094934613746,
+              0.00928764056595281,
+              1.2375147174841576
+            ],
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+              -0.003590683369065646,
+              1.2375147174841576
+            ],
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+              0.009283847453233046,
+              1.2375147174841576
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025179386551703226,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05767128883239125,
+              -0.9982737579596835,
+              0.011114252717213445
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038717960906998862,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03208151914488548,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.30776789481164124,
+              0.0030386744686725494,
+              0.756586401644676
+            ],
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+              0.00626580135431691,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.010119793697843266,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21084504805463047,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756586401644676,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520665148711156,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08995751892984281,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18206420768056578,
+            "release_required_pad_clearance": 0.05497875946492141,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.029789178510722,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 239,
+            "max_placed_release_frames": 239
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "68250bf2b17a1df582f4150e53436c38208a87c4e48b8cf12f2491a7bf8653f9",
+    "visual_seed": 633852910908955552,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_64_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9209700f96e4177eee83339ebbb5e0876196f2c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_64_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3231518511806345,
+              -0.18078957571075574,
+              1.052257890851051
+            ],
+            "current_z": 1.052257890851051,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.19115144244092974,
+            "gripper_z": 1.0539978607851244,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3196781573175649,
+              -0.18477695234396552,
+              1.0539978607851244
+            ],
+            "object_minus_gripper": [
+              0.0034736938630696157,
+              0.003987376633209777,
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+                "fr3_joint5",
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+                "geometry",
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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",
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+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
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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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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+        "arm": null,
+        "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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+              0.010150462725126097,
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+              1.23878796421279
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+            "min_shake_count": 3,
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+            "held_gripper_z_dist": 0.0018418220629723425,
+            "max_held_gripper_z_dist": 0.0018465581178310764,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08635399985663603,
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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": [
+              0.3504124085940188,
+              -0.011091571444496283,
+              1.23878796421279
+            ],
+            "held_grasp_finger_b": [
+              0.3411577197438872,
+              0.014437870117852487,
+              1.23878796421279
+            ],
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+              0.345785064168953,
+              0.0016731493366781017,
+              1.23878796421279
+            ],
+            "held_grasp_object_position": [
+              0.3504124085940188,
+              0.014437870117852487,
+              1.23878796421279
+            ],
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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": 0.02486211265175515,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06607177778214275,
+              -0.9978121274095071,
+              0.002340635644627276
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003773966401003895,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032157694894784435,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.31330397790042136,
+              0.010982530116188934,
+              0.7565864014608482
+            ],
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+              0.01163940217363453,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.007167623742292827,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.210455705129782,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864014608482,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533501524052032,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08660869852706331,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18200345404401985,
+            "release_required_pad_clearance": 0.053304349263531656,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6269834283388287,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 237,
+            "max_placed_release_frames": 237
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7882cf1f5e00800e735d15b547a9c70dbe2138d6957aa8687af5dd253963528e",
+    "visual_seed": 2178621374328718255,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_67_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..da3ead2d19dcc5db493ef1db4e6ffe5672f888b0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_67_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3208444719559538,
+              -0.18723460927431643,
+              1.0488710594535786
+            ],
+            "current_z": 1.0488710594535786,
+            "required_z": 0.8611066868287002,
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+                "fr3_joint5",
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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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+                "visuals",
+                "wrist",
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+                "base_link",
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+            },
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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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": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
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+              0.00947776339066786,
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+              0.013705016733524464,
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+            "shake_count": 5,
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+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00687513420414544,
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+            "held_gripper_z_dist": 0.0019247503627077833,
+            "max_held_gripper_z_dist": 0.0019287186108645216,
+            "held_gripper_z_max_dist": 0.15,
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+            "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": [
+              0.34798587159679356,
+              -0.011802725360621867,
+              1.2406420472272581
+            ],
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+              0.33881129144132943,
+              0.013705016733524464,
+              1.2406420472272581
+            ],
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+              0.3433985815190615,
+              0.0009511456864512982,
+              1.2406420472272581
+            ],
+            "held_grasp_object_position": [
+              0.34798587159679356,
+              0.013705016733524464,
+              1.2406420472272581
+            ],
+            "held_grasp_finger_gap": 0.027107523453287295,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024750387155088628,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07474450833695946,
+              -0.9971927951962498,
+              0.004448334762195193
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036216326862323475,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03213928190534827,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.31917761473474393,
+              0.008576888014148814,
+              0.7565863893872481
+            ],
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+              0.3181281411308209,
+              0.008704349445444005,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0010571855380201928,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21774253164111607,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863893872481,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578757341468166,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08571074050056736,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18775334111997422,
+            "release_required_pad_clearance": 0.05285537025028368,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.752770569770519,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 236,
+            "max_placed_release_frames": 236
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7d9c584524e60e292ddb3d1fbb23f5ff3fb4cb1dc72d3f7f7472128e15c45a25",
+    "visual_seed": 4696673980366613600,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_69_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dddf2e46486fbc4ef4379f1b0719b9cf9e1cf6b5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_69_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
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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",
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+                "wrist_3_joint"
+              ],
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+                "base_link",
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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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+      }
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+      "skill": "shake",
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+      "reason": "executed",
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
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+            "gripper_position": [
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+              0.012279939035139423,
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+              0.015074866279901778,
+              1.1807648721859256
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+            "held_gripper_z_dist": 0.029708582566407182,
+            "max_held_gripper_z_dist": 0.029735652476104768,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08649234556598899,
+            "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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+              -0.008938930473579966,
+              1.1961445239973263
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+            "held_grasp_finger_b": [
+              0.3405427486040798,
+              0.016054779180040533,
+              1.1971150063723157
+            ],
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+              0.3432989534485946,
+              0.003557924353230283,
+              1.196629765184821
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+            "held_grasp_object_position": [
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+              0.015074866279901778,
+              1.1807648721859256
+            ],
+            "held_grasp_finger_gap": 0.02561277062071488,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025079072935697302,
+            "held_grasp_world_z_skew": 0.0009704823749894231,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.05380974335257972,
+              -0.9948726015335458,
+              0.08563304407881445
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.015213471539273674,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03253208658334273,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3092614208448338,
+              0.011457198612685796,
+              0.756587025659862
+            ],
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+              0.31999649670922653,
+              0.013879273161360575,
+              0.7730800627579277
+            ],
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+            "xy_dist": 0.011004921577803495,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2099753339393271,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756587025659862,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582955892685904,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09283101184071894,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18041372858952195,
+            "release_required_pad_clearance": 0.056415505920359474,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.171047378807733,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 245,
+            "max_placed_release_frames": 245
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7734e60c91ef45e91654d358a054637a0f4495df4864f49e61be9ef4635d0d78",
+    "visual_seed": 1030242294241973160,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_6_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d20563c6e5cec4d5724f11593928f07da026bda
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_6_success.json
@@ -0,0 +1,1335 @@
+{
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+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+          "target": "beaker_a",
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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"
+              ],
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
+                }
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "shake",
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+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
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+                  "b": "/World/beaker_2/mesh"
+                },
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+                  "b": "/World/beaker_2/mesh"
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+      "reason": "executed",
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "joint1",
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+                "joint3",
+                "joint4",
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+                "joint7",
+                "left_inner_finger",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
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+                "panda_joint6",
+                "panda_joint7",
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+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+      "reason": "executed",
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+        "checker": {
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
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+                "joint4",
+                "joint5",
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+                "left_inner_finger",
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+                "panda_joint1",
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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",
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+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+              "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": []
+          }
+        },
+        "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": 4,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "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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+              0.013683611858315028,
+              1.2427243689892495
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+              0.017939177160468927,
+              1.2409496039812111
+            ],
+            "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": 0.006949764043041207,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0017747650080384147,
+            "max_held_gripper_z_dist": 0.0017804019463256715,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.087642454269894,
+            "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": [
+              0.3534210513697126,
+              -0.007680645202955931,
+              1.2409496039812111
+            ],
+            "held_grasp_finger_b": [
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+              0.017939177160468927,
+              1.2409496039812111
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+              0.005129265978756498,
+              1.2409496039812111
+            ],
+            "held_grasp_object_position": [
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+              0.017939177160468927,
+              1.2409496039812111
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+            "held_grasp_finger_gap": 0.027202910909057142,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024904153788622714,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07113315169064897,
+              -0.9974556082311807,
+              0.004731209012545312
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003650006645332013,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03209766636183738,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3145048087601905,
+              -0.0009902082846984413,
+              0.7565877206679279
+            ],
+            "target_position": [
+              0.3232508619441869,
+              0.014547524276155695,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.017830159265410966,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2109352115088091,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565877206679279,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518803658827371,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08566470440956618,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1796150775118908,
+            "release_required_pad_clearance": 0.05283235220478309,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7055363462643671,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 201,
+            "max_placed_release_frames": 201
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "56fd80cd7a3fc0f226d61c68e27021621acb8da51023509a5a5d95355bd2a4e6",
+    "visual_seed": 4126244178451713092,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_71_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..42e57008e8c03037554d787d8ee90a7f3de03147
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_71_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+            "required_stable_lift_frames": 5
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+          "failure_messages": {},
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_max": 0.08,
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+          "failure_messages": {},
+          "safety": {
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_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",
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+            },
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+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+              "ignored": [],
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+            },
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+        "post_done_wait_exhausted": false
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+    {
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+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 163,
+            "max_placed_release_frames": 163
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "inspection_platform"
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+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/target_plat"
+              ],
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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",
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+            },
+            "status": "active",
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+            "failed_keys": []
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+    },
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
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+      6590206372818194557,
+      3957288070049760871,
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+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_72_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..437f055be2f196c03b78920bce66576e430d2c83
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_72_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+              1.0501790558557107
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+              0.0,
+              1.0
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+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
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+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
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+              ],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
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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,
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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/beaker_2/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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+            "gripper_position": [
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+              -0.18654557589171852,
+              1.2427904043156606
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+            "held_position": [
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+              1.2405535582130334
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+            "held_grasp_size_source": "beaker_a_local_size",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_a",
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+                "beaker_a"
+              ],
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+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
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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/beaker_2/mesh"
+                },
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+                  "b": "/World/beaker_2/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
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+    {
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+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+            "max_z": 0.8774145980897915,
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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "placed_release_frames": 165,
+            "max_placed_release_frames": 165
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
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+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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+                "defaultgroundplane",
+                "desk",
+                "floor",
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+            },
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+            "forbidden": [],
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+    "task_island_state_digest": "0d1b4625f319073a55387a78151798b1a4810f89389378af9096967c62f6acc4",
+    "visual_seed": 7957075301203469916,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_73_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c34bf81875a22edefb76961cbc6e73284d10dfcc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_73_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+              0.00392183284803399,
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+            "stable_success_frames": 209,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
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+                "/World/beaker_2"
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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": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
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+                }
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+              -0.1835922160360289,
+              1.2435536289893556
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+            "held_shake_count": 5,
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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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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+              "ignored": [],
+              "failed_keys": []
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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": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_min_pad_clearance": 0.13262232669337848,
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+            "force_virtual_attach": false,
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+            "max_z": 0.8774145980897915,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 165,
+            "max_placed_release_frames": 165
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "inspection_platform"
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+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+            "status": "active",
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+      7646082623233218622
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+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7f2c1cdcaaa572a03451f9c72d6430d3d9f2f2571b9a6b9f01c37dd73cec4618",
+    "visual_seed": 6496233624794499881,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
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+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_74_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..288ae6515b813ebf0af4e8bc8cc1874472e53780
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_74_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
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+          "metrics": {
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+              -0.18323905713388952,
+              1.0497960609263786
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+            "lift_margin": 0.18868961251625738,
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+              -0.18693162295920168,
+              1.0529275831312621
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+            "object_to_gripper_z": -0.0031315222048835523,
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+              -0.18323905713388952,
+              1.0497960609263786
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+              -0.19498763705133088,
+              1.0497960609263786
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+              0.011748579917441354,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05356302059044658,
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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": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
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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/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.18857515995135005,
+              1.245663929366009
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+            "held_position": [
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+              -0.18488217300663218,
+              1.2426572779629028
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+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005932378314244688,
+            "max_held_gripper_dist": 0.005948345784075265,
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+            "held_gripper_z_dist": 0.0030066514031061864,
+            "max_held_gripper_z_dist": 0.00310642357494606,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08676718544916673,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
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+              -0.20858872800300995,
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+              -0.18488217300663218,
+              1.2426572779629028
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+              0.31671040686969965,
+              -0.19673545050482105,
+              1.2426572779629028
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+            "held_grasp_object_position": [
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+              -0.18488217300663218,
+              1.2426572779629028
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02389656044538514,
+            "held_grasp_world_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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+              -0.9991256123503119,
+              -0.03253843061324102
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004340232965948491,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/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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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "place",
+      "target": "inspection_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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+            "object_upright_reference_source": "scene_initial",
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+            "release_fingertip_min_gap": 0.0873223811210838,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.12974506629236587,
+            "release_required_pad_clearance": 0.0536611905605419,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3225829232177895,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 163,
+            "max_placed_release_frames": 163
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
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+    "forbidden_shortcuts_absent": true
+  },
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
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+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
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+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1bb5664130560f504a744b878981386216271076ef9c34b0e1128a700fdff905",
+    "visual_seed": 3062563038936134511,
+    "episode_index": 74,
+    "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/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_75_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9cb6bebdc838abbbfa244433e7e90df7476134c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_75_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+              1.0500694910512745
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+              1.0
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+            "required_stable_lift_frames": 5
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+          "failure_messages": {},
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+                "beaker_a"
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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",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
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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": [
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+                "desk",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "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": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
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+              ],
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+                "/World/beaker_2"
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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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+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
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+    },
+    {
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+      "success": true,
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+        "checker": {
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+            "release_required_pad_clearance": 0.05461835759071085,
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+            "force_virtual_attach": false,
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+            "max_z": 0.8774145980897915,
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+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 163,
+            "max_placed_release_frames": 163
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "inspection_platform"
+              ],
+              "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",
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+                "panda_joint6",
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+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
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+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
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+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
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+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1688abf2027c56002037342d7f6623d8cceabc00bd35f7098659232580d1f630",
+    "visual_seed": 4881104421166495337,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      6590206372818194557,
+      3957288070049760871,
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+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_76_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1dbce31d252cf394b97113e9243ca3fc1e7a499
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_76_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+              0.0,
+              1.0
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+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+                "beaker_a"
+              ],
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+              "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",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "passed": true,
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+            "disturbances": [],
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+                {
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+            },
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "link0",
+                "table",
+                "wheel",
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+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
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+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
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+            },
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+    {
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+      "skill": "place",
+      "target": "inspection_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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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13653067422537005,
+            "release_required_pad_clearance": 0.05401078928725983,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.019978561372888,
+            "object_max_tilt_deg": 12.0,
+            "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": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "inspection_platform"
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+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
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+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
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+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "95f72a4754dc2638d2b0a07cc86cf89a5f9e30117f01c54ccad0329fa15fa601",
+    "visual_seed": 4310071519749017521,
+    "episode_index": 76,
+    "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/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_77_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cdd835f9bba57c17c9489f277df38a41ad812e1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_77_success.json
@@ -0,0 +1,1335 @@
+{
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+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+            "required_stable_lift_frames": 5
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+          "failure_messages": {},
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+                "fr3",
+                "fr3_duo_mobile",
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+                "fr3_joint5",
+                "fr3_joint6",
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+                "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"
+              ],
+              "ignored_prim_substrings": [
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+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "target": "beaker_a",
+          "passed": true,
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_a",
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+                "beaker_a"
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+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
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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",
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+            "disturbances": [],
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+    {
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+      "reason": "executed",
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+        "checker": {
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+            "force_virtual_attach": false,
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+            "max_z": 0.8774145980897915,
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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "placed_release_frames": 161,
+            "max_placed_release_frames": 161
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/beaker_2",
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
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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": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c57ffe1b04cd4ece43661a15f83260f15d59c42559324991182b097afef16fb2",
+    "visual_seed": 1705679151536122079,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_81_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb4d3e58f9a0f78f191b42097ae9b52441f154c2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_81_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+              1.0515876325129379
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+              0.0,
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+            "required_stable_lift_frames": 5
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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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",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "max_held_gripper_z_dist": 0.0023591792678219203,
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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": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
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+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
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+        },
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+    },
+    {
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+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+            "release_fingertip_min_gap": 0.08770606391159787,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13213433486522194,
+            "release_required_pad_clearance": 0.053853031955798936,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
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+            "object_tilt_deg": 2.705539105098664,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 164,
+            "max_placed_release_frames": 164
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "inspection_platform"
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+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
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+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cfcc0f30cbf03a2fc8fa1bc96ae02960ef164c0e8dfd07ca483fd98e6aedcfac",
+    "visual_seed": 4876698607203513560,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_84_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a429497b1cc6a8cfd1dde3d0af2534b05a69a1b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_84_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+              1.052457171941247
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+              0.0,
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+            "required_stable_lift_frames": 5
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "max_held_gripper_z_dist": 0.0017318428233399352,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_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",
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
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+                  "b": "/World/beaker_2/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": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13205288374595156,
+            "release_required_pad_clearance": 0.054627333871432024,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
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+            "object_tilt_deg": 4.279813813016954,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 166,
+            "max_placed_release_frames": 166
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/target_plat"
+              ],
+              "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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+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d7fadd5ef97813af78d434800b9830ea5d8497dce412b5347a58506a8d5b3dec",
+    "visual_seed": 5103626750196828466,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_87_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..40e9a58c1c914c75e785150b7ebcf8797b9b712c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_87_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "target": "beaker_a",
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+              1.0509318780016854
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+            "object_upright_reference_source": "scene_initial",
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+            "stable_success_frames": 208,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "disturbances": [],
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+      },
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "max_held_gripper_z_dist": 0.0023034147472722477,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_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_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_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
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+                  "b": "/World/beaker_2/mesh"
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+              "ignored": [],
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+            "failed_keys": []
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+      }
+    },
+    {
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+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+            "release_gap_missing_size": false,
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+            "release_required_pad_clearance": 0.05388618094668668,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
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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": 164,
+            "max_placed_release_frames": 164
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "inspection_platform"
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+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5e3604e5edee3e64f1e5dc70a568a8c835c7e6b9a2e2a537b5e0ea2c15763c50",
+    "visual_seed": 6125823187296626902,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_8_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbfda167451243b5920bb474c5984dc554db6fc5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_8_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "passed": true,
+          "metrics": {
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+            "object_position": [
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+              1.0495319813333057
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+            "current_z": 1.0495319813333057,
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+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.1884254137138951,
+            "gripper_z": 1.0526099837946568,
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+            "gripper_position": [
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+              -0.18604032666346393,
+              1.0526099837946568
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+              0.003957425631002265,
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+              0.01189118986758475,
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+            "fingertip_min_top_clearance": 0.015236656729905384,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04965959758993284,
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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": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+          }
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              1.2429307807853223
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+              -0.1841694185877839,
+              1.2400071470709548
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+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00627733668248621,
+            "max_held_gripper_dist": 0.006288513604358831,
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+            "held_gripper_z_dist": 0.002923633714367435,
+            "max_held_gripper_z_dist": 0.0030555778498930763,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08701273731114212,
+            "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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+              1.2400071470709548
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+              -0.19609426758225457,
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+              -0.1841694185877839,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023630348627869915,
+            "held_grasp_world_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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+              -0.9972689963845868,
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+            "held_grasp_object_to_finger_line_xy": 0.0039759739073349995,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
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+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
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+        },
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+    },
+    {
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+      "skill": "place",
+      "target": "inspection_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
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+          "passed": true,
+          "metrics": {
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13007807721201925,
+            "release_required_pad_clearance": 0.05331663932209571,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6327028817433813,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 164,
+            "max_placed_release_frames": 164
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b8fbdd6ad7ae1a8c5870456e5a7fefe15c7037c0079f9600e3a9c5ddeca15b9f",
+    "visual_seed": 5839696314744545386,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_93_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..386acb4a63305b05ef08cc4be96c9c926494839a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_93_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
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+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              1.050403081111658
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04977622821811249,
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+              1.0
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+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 0.0016580877549727813,
+            "max_held_gripper_z_dist": 0.0017391411678719937,
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+            "held_grasp_geometry_required": true,
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+            "held_grasp_z_skew": 0.02355624739576373,
+            "held_grasp_world_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": 0.003941016648577066,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
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+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
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+      },
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+    {
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+      "skill": "place",
+      "target": "inspection_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_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08947245652149426,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13386784709093427,
+            "release_required_pad_clearance": 0.05473622826074713,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ddc0398369760e34699e8720d19a735c3b61cb88c9e5b78b1c01b4c7008f6b93",
+    "visual_seed": 572350089113927870,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_94_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..70d505c1f439e3401f0ede00b99f53c0d788f307
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_94_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+            "object_position": [
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+              1.0517924297943781
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+            "lift_margin": 0.19068604098890152,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.1848589009967878,
+              1.0537728272446296
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+              0.004010115323971886,
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+            "object_to_gripper_z": -0.00198039745025147,
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+              -0.2042939416894654,
+              1.0517924297943781
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+            "finger_midpoint": [
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+              -0.19257136368114067,
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+              0.011722578008324741,
+              0.0
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+            "object_position_origin": "center",
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+            "fingertip_min_top_clearance": 0.015328228243306251,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04997919514855999,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.632292561061986,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
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+            },
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+          }
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+      },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              1.246549088077564
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+            "held_position": [
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+              -0.18348419368722924,
+              1.2447607488065682
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+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
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+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005764477590054701,
+            "max_held_gripper_dist": 0.005774446236613214,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0017883392709958645,
+            "max_held_gripper_z_dist": 0.0019549445908972896,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0868881864473518,
+            "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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+              -0.20719813077805813,
+              1.2447607488065682
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+              -0.1953411622326437,
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+              -0.18348419368722924,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023290599809567845,
+            "held_grasp_world_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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+              -0.9962607549919594,
+              -0.07603220991490556
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037012384108828554,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+        },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
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+            "target": "inspection_platform",
+            "object_position": [
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+            "gripper_away_ok": true,
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+            "min_z": 0.5158860691194898,
+            "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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+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "33bd1fd535a004132dc1469e053226ddb86c1289a08b1ade35250b9b18b42d3c",
+    "visual_seed": 7618238125444505570,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_97_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..36c676b67fbe1736eb796a89c9722684a869727f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_97_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
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+              "robot_prim_substrings": [
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+                "dummy_base_prismatic_x_joint",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
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+                "fr3",
+                "fr3_duo_mobile",
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+                "fr3_joint2",
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+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "caster",
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+                "wheel",
+                "workbench"
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+            },
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+    {
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+      "skill": "shake",
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+      "reason": "executed",
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
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+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_a",
+              "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"
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
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+            "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
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+    {
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+      "reason": "executed",
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 232,
+            "max_placed_release_frames": 232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "workflow_spec_digest": "ad7faf006b38334e63ba6551b3f8a2e0bfc6389693f1459d59849f19b3f56464",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "38c65803cf000578ebb9832ed4e0b91fc223f64003533a3f3f7478ab8f364645",
+    "visual_seed": 2604126803740795035,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871,
+      4471394649374130754,
+      7646082623233218622
+    ],
+    "runtime_workflow_digest": "4c176b8339a7599e30f9dea4a2e5096968810d89c4fe7fe52e2d362a51be4434"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_99_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8ec13fd41a1dfbfffc6a79dae87a41669c237c2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00030/results/episode_99_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+                "fr3",
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+                "fr3_joint7",
+                "fr3_leftfinger",
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+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "caster",
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+                "wheel",
+                "workbench"
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+            },
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+    {
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+      "skill": "shake",
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+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "metrics": {
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+                "/World/beaker_2"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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",
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+                  "b": "/World/beaker_2/mesh"
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+    {
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+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2f7925ad451411837f898a5633901ec09fd81300
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/resolved_config.yaml
@@ -0,0 +1,291 @@
+name: fast_2beaker_central_longmix_s06_pslpsl_nbo_00032
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Shake the current contents of
+    beaker a once. Place beaker a at inspection platform. Pick up beaker b from home.
+    Shake the current contents of beaker b once. Place beaker b at home.
+  layout_id: layout_00032
+  reproducibility:
+    enabled: true
+    layout_id: layout_00032
+    action_seed: 8965520104066671838
+    step_seeds:
+    - 5868908299052723470
+    - 1147186024122430536
+    - 7048677080094423649
+    - 1480185638166204106
+    - 3014162407012415582
+    - 4167145195996473630
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2455
+      - 0.2455
+      'y':
+      - -0.1915
+      - -0.1915
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.313
+      - 0.313
+      'y':
+      - 0.04
+      - 0.04
+      z:
+      - 0.0
+      - 0.0
+    role: receiver
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.2337
+      - 0.2337
+      'y':
+      - 0.1966
+      - 0.1966
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      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_a
+    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: inspection_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      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: beaker_b
+    target_key: beaker_b_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+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/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_100_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b503ce766c1308d6b4c16771a97eeb0342a5e55c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_100_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26794967016856797,
+              -0.1832694142039833,
+              1.0486649757277702
+            ],
+            "current_z": 1.0486649757277702,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.187558527317649,
+            "gripper_z": 1.05312669953461,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2641300058842748,
+              -0.18732020401433122,
+              1.05312669953461
+            ],
+            "object_minus_gripper": [
+              0.003819664284293145,
+              0.004050789810347927,
+              -0.004461723806839846
+            ],
+            "object_to_gripper_xy": 0.005567650611552709,
+            "object_to_gripper_z": -0.004461723806839846,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26794967016856797,
+              -0.20724159488984903,
+              1.0486649757277702
+            ],
+            "finger_b": [
+              0.25790844233503346,
+              -0.1832694142039833,
+              1.0486649757277702
+            ],
+            "finger_midpoint": [
+              0.26292905625180074,
+              -0.19525550454691615,
+              1.0486649757277702
+            ],
+            "object_minus_finger_midpoint": [
+              0.005020613916767225,
+              0.011986090342932854,
+              0.0
+            ],
+            "finger_gap": 0.025990223224142232,
+            "fingertip_max_gap": 0.09903385946664722,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012995111612071092,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0486649757277702,
+            "object_top_z": 1.1010242168830398,
+            "finger_top_clearance": 0.052359241155269576,
+            "fingertip_min_top_clearance": 0.015707772346580887,
+            "object_projection_between_fingers": 0.8507364991735302,
+            "object_to_finger_line_xy": 0.009261564468205053,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.052016929733323614,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 4.1294925145100425,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.273946126895633,
+              -0.17996434431773867,
+              1.2419803886405312
+            ],
+            "held_position": [
+              0.2779030126601761,
+              -0.17561792519474223,
+              1.2379084740973552
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007150439999980488,
+            "max_held_gripper_dist": 0.00717429639038569,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004071914543176014,
+            "max_held_gripper_z_dist": 0.004455069186435567,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08569242550612169,
+            "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": [
+              0.2779030126601761,
+              -0.1991881053599148,
+              1.2379084740973552
+            ],
+            "held_grasp_finger_b": [
+              0.26958728036849444,
+              -0.17561792519474223,
+              1.2379084740973552
+            ],
+            "held_grasp_midpoint": [
+              0.27374514651433524,
+              -0.1874030152773285,
+              1.2379084740973552
+            ],
+            "held_grasp_object_position": [
+              0.2779030126601761,
+              -0.17561792519474223,
+              1.2379084740973552
+            ],
+            "held_grasp_finger_gap": 0.02499409523398699,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02355827076450412,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.013902679047030625,
+              -0.9945897588874119,
+              -0.10294623369310486
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004487582547998866,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038056725644935285,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.29750295015488737,
+              0.048484239436249625,
+              0.7565868525058141
+            ],
+            "target_position": [
+              0.31675147786437025,
+              0.04036361312531114,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.02089139513447191,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20359746339923243,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565868525058141,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751673105412109,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08628045762152035,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17828774614923645,
+            "release_required_pad_clearance": 0.05314022881076018,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3038411397235747,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "457ac7a4efcdc6eb11f4df24366ea3d7b3cedc5dc56315d28b8fae54ae2bb7f0",
+    "visual_seed": 5665905933192170383,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_104_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..598e360991c5c31acbcddee3694752e60ff3d54b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_104_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 104,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2726797735733121,
+              -0.19128039001046304,
+              1.0498453423958094
+            ],
+            "current_z": 1.0498453423958094,
+            "required_z": 0.8611064484101213,
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+            "lift_margin": 0.1887388939856881,
+            "gripper_z": 1.053140822168739,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26938171320857174,
+              -0.19513998577395716,
+              1.053140822168739
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+              0.0032980603647403406,
+              0.0038595957634941225,
+              -0.0032954797729296548
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+            "object_to_gripper_z": -0.0032954797729296548,
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+              -0.21452148555046355,
+              1.0498453423958094
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+              -0.19128039001046304,
+              1.0498453423958094
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+              0.26759136206445033,
+              -0.2029009377804633,
+              1.0498453423958094
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+              0.011620547770000267,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.009322267957196501,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0504382502411123,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.6458629568290712,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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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": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2786518191627143,
+              -0.19069485008870352,
+              1.2429419207020294
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+            "held_position": [
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+              -0.18679909893608176,
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+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006081771008050453,
+            "max_held_gripper_dist": 0.006094271415908332,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0029546484410154505,
+            "max_held_gripper_z_dist": 0.003269898939620708,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08614542313020923,
+            "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": [
+              0.28226860145381427,
+              -0.21033715894210703,
+              1.239987272261014
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+              -0.18679909893608176,
+              1.239987272261014
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+            "held_grasp_midpoint": [
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+              -0.1985681289390944,
+              1.239987272261014
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+            "held_grasp_object_position": [
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+              -0.18679909893608176,
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+            "held_grasp_finger_gap": 0.024715494729015623,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.022967294276703177,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05548004366147829,
+              -0.9935177596250678,
+              -0.09921908115330733
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033256997985521967,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03781841656534002,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2973484503010366,
+              0.04501419934211015,
+              0.7565869156383767
+            ],
+            "target_position": [
+              0.3160207377647458,
+              0.04272165699928347,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.018812497694911345,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20295696088726148,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565869156383767,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538489410531646,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08881783993128377,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17594518071790102,
+            "release_required_pad_clearance": 0.054408919965641886,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.842234366338752,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8ef77a385813f54a669298072e15cd1eade9136e06cd747f222cf8ef56192146",
+    "visual_seed": 4253804009249626630,
+    "episode_index": 104,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_105_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_105_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..32fe59a77a17b734187c1d584bcf39256ef10c67
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_105_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 105,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2665560358265493,
+              -0.18640614439019587,
+              1.0518345584394524
+            ],
+            "current_z": 1.0518345584394524,
+            "required_z": 0.8611064484101213,
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+            "lift_margin": 0.1907281100293311,
+            "gripper_z": 1.0551742646170914,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.263116428149479,
+              -0.19035499972639122,
+              1.0551742646170914
+            ],
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+              0.0034396076770703,
+              0.0039488553361953505,
+              -0.0033397061776390125
+            ],
+            "object_to_gripper_xy": 0.005236827230142258,
+            "object_to_gripper_z": -0.0033397061776390125,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2665560358265493,
+              -0.20971787195621608,
+              1.0518345584394524
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+              -0.18640614439019587,
+              1.0518345584394524
+            ],
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+              0.2613936008316477,
+              -0.19806200817320596,
+              1.0518345584394524
+            ],
+            "object_minus_finger_midpoint": [
+              0.005162434994901599,
+              0.01165586378301009,
+              0.0
+            ],
+            "finger_gap": 0.02549587383124346,
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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": 0.015396418577017889,
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+            "object_to_finger_line_xy": 0.009440372899159864,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049883435857157724,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.077491629307549,
+            "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
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27304563376516633,
+              -0.18562002747009596,
+              1.2483210237134568
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+            "held_position": [
+              0.27681508766812013,
+              -0.18168849590095987,
+              1.245284745053444
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+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0062357606838986035,
+            "max_held_gripper_dist": 0.006247392284574548,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003036278660012659,
+            "max_held_gripper_z_dist": 0.0033236294366632,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08587505366648801,
+            "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": [
+              0.27681508766812013,
+              -0.20548082962610023,
+              1.245284745053444
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+              0.26909664611135936,
+              -0.18168849590095987,
+              1.245284745053444
+            ],
+            "held_grasp_midpoint": [
+              0.2729558668897397,
+              -0.19358466276353004,
+              1.245284745053444
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+            "held_grasp_object_position": [
+              0.27681508766812013,
+              -0.18168849590095987,
+              1.245284745053444
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+            "held_grasp_finger_gap": 0.025012986310186617,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023146243764470005,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06489813628799557,
+              -0.9938981400367898,
+              -0.0891892321850276
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003260378114449082,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03764621571577847,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
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+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
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+        "post_done_wait_exhausted": false
+      },
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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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+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
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+            "target": "beaker_b",
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+            "object_tilt_deg": 7.20097853183342,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
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+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c28365cbe6e00ce62027d1feabf7c3e006aef7325c8815419e01520ffd6c03b2",
+    "visual_seed": 8617633734901560755,
+    "episode_index": 105,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
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+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_109_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_109_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..da82093ddee0ad2d029b4fdbf21732c6aa2d0ce0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_109_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 109,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+      "target": "beaker_a",
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+          "skill": "pick",
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+            "required_stable_lift_frames": 5
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+          "failure_messages": {},
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+              "allowed_object_paths": [
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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",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+            },
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
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+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_max": 0.08,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
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+            "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": {
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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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
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+              0.013996506823828636,
+              0.7565861118408568
+            ],
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.000747886288346,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 229,
+            "max_placed_release_frames": 229
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
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+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3ac25721a9680c0ee23eb2f8cf00b61eb00407201f52c66475e054670c24091b",
+    "visual_seed": 3490177197117438996,
+    "episode_index": 109,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_10_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..69e344d5e193f9d6053fde50d0f7c4030efdc4e3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_10_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+      "target": "beaker_a",
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+          "skill": "pick",
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+            "required_stable_lift_frames": 5
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "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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+            "max_held_gripper_z_dist": 0.002982524515364293,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08631543373985218,
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+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.022993702633908715,
+            "held_grasp_world_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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+              -0.9950406007672488,
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034250184478211766,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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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
+      },
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "target": "beaker_b",
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+              0.046522236475210664,
+              0.7565877032895945
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+            "object_tilt_deg": 8.48133957946547,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 243,
+            "max_placed_release_frames": 243
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
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+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a3d40aea9db84fefc249c0b2992ddbd1a54b4e030fef9ac09fca3e84d34b68fe",
+    "visual_seed": 72792413340740793,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
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+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_110_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_110_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..215f7c551ea89b1107931a1589d7df143258c5be
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_110_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 110,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+          "skill": "pick",
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+            "stable_success_frames": 207,
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+          "failure_messages": {},
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+          }
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_a",
+      "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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+            "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": 0.003609107157408009,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
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+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2981024170789867,
+              0.04296691108108698,
+              0.7565862898197376
+            ],
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+              0.3090233992759314,
+              0.03825659262277334,
+              0.7730800627579277
+            ],
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20877804514716397,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565862898197376,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583526249791919,
+            "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": 0.1806893563020404,
+            "release_required_pad_clearance": 0.05399075703299276,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.9918656206168,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 241,
+            "max_placed_release_frames": 241
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ab7758d2a1a70ebcc455fa67b74ffccdd562f4e5024138ddc340cca59864cdc5",
+    "visual_seed": 3734393773605080316,
+    "episode_index": 110,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_113_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_113_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3411dd18c0bedff2ea1cf9e2357cf4371af49f2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_113_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 113,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+              1.0489511506055265
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05191151903957905,
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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": 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_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                {
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+                  "b": "/World/beaker_2/mesh"
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+            },
+            "failed_keys": []
+          }
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+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006267806371778331,
+            "max_held_gripper_dist": 0.006284778071075366,
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+            "max_held_gripper_z_dist": 0.003465372749349216,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew": 0.02313006030492744,
+            "held_grasp_world_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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+              -0.9957262373601894,
+              -0.09232425678141222
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004149404683821692,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_top_clearance": 0.03813630647398455,
+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
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+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3002911994983867,
+              0.045998750533138885,
+              0.7565866386724835
+            ],
+            "target_position": [
+              0.3137234353965886,
+              0.04432802018992309,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.01353574161635358,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2056561545749181,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565866386724835,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516765408411308,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09247797184570615,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17815736052826403,
+            "release_required_pad_clearance": 0.05623898592285308,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 7.769981019303473,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 244,
+            "max_placed_release_frames": 244
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 113,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4f04312bfd967d45841136f1ba4faeb1ac3c06e6894502d43bb50829434c2927",
+    "visual_seed": 4823189082481713760,
+    "episode_index": 113,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_117_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_117_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0f8a2d8a82e55bc4e30b2013a6952c1cfc73e0d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_117_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 117,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+              1.0496197961869302
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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": 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_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              1.2441998090030606
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+              -0.1794977693867994,
+              1.2401777749202147
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+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0067265078538672075,
+            "max_held_gripper_dist": 0.0067428026576659,
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+            "max_held_gripper_z_dist": 0.00436598326528892,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08601174492194533,
+            "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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+              -0.2028731329003802,
+              1.2401777749202147
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+              -0.1911854511435898,
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+            "held_grasp_object_position": [
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+            "held_grasp_finger_gap": 0.024674707586565595,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02329238291386735,
+            "held_grasp_world_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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+              -0.9974703679986191,
+              -0.07101939509153032
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004002554426151657,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
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+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3066964748639064,
+              0.043428129156721826,
+              0.7565865644002536
+            ],
+            "target_position": [
+              0.3144693433749827,
+              0.04058296141151252,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.008277225645641265,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21136193332801798,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865644002536,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541451717681202,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08896252455182406,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18314862274344929,
+            "release_required_pad_clearance": 0.05448126227591203,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.9925116361517867,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 245,
+            "max_placed_release_frames": 245
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9ce32b682049669b26d37132636071d5c035fa312f0fc8fee2b8ade45653e411",
+    "visual_seed": 6665020695590502726,
+    "episode_index": 117,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_118_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_118_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..23dc442391944c240cb034c3494b00ddc5da1f67
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_118_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 118,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+              1.0495846370106314
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+              0.0,
+              1.0
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+            "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_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "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": 0.0033821639102433743,
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+            "held_object_xy_range": 0.08640581679329046,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_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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+              -0.9935866951986333,
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003374694501589303,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
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+              0.04777718294928805,
+              0.7565868193063285
+            ],
+            "target_position": [
+              0.31597835701376975,
+              0.03758450244269647,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.013885207105273774,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2087075056368514,
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+            "gripper_away_ok": true,
+            "object_z": 0.7565868193063285,
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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": 0.07532185504101382,
+            "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": 0.18258459083231937,
+            "release_required_pad_clearance": 0.05728872652831481,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 10.207764978272294,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 245,
+            "max_placed_release_frames": 245
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 118,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0f5ab5cdc62cd602f0e634b09172670e161843cdc75f3a7860aa5274b1d777d3",
+    "visual_seed": 701555659663420412,
+    "episode_index": 118,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_119_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_119_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c337c812033008e02e081a72cbf26da02beaf33
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_119_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 119,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+      "target": "beaker_a",
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+          "skill": "pick",
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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
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_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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+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3123595937345682,
+              0.03932035722326155,
+              0.7565866081268398
+            ],
+            "target_position": [
+              0.3150260419280898,
+              0.040561735538708725,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0029412524697477503,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21330753489515952,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565866081268398,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549028716638517,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08908477391780044,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18382114341085495,
+            "release_required_pad_clearance": 0.05454238695890022,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.118180879867139,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 241,
+            "max_placed_release_frames": 241
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 119,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5a70cb50d1e0777182304edc612aa4a578159e78769a39ed51eb54347895eaf9",
+    "visual_seed": 8721427134865899730,
+    "episode_index": 119,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_11_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9d471a820170866cc34c4480e41e7a8e055171a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_11_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+              1.0523849413617903
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+            "lift_margin": 0.1912784929516691,
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+              0.011701099298613099,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04951568727574404,
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+            "object_upright_reference_source": "scene_initial",
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+              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": {
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+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              1.2457191413567097
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+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006250240439492699,
+            "max_held_gripper_dist": 0.0062626975138496375,
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+            "held_gripper_z_dist": 0.002749169205291224,
+            "max_held_gripper_z_dist": 0.003091882184553363,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08668395410459151,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
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+            "held_grasp_finger_a": [
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+              1.2429699721514185
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+              1.2429699721514185
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+              -0.1934498561524207,
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+            "held_grasp_object_position": [
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+              -0.18164675248629453,
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+            "held_grasp_finger_gap": 0.024876328221596713,
+            "held_grasp_max_gap": 0.1249237185716629,
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+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.29141246845501034,
+              0.05180349417115803,
+              0.7565901390194203
+            ],
+            "target_position": [
+              0.3084590566550834,
+              0.04033793724824449,
+              0.7730800627579277
+            ],
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+            "xy_threshold": 0.08,
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+            "gripper_away_ok": true,
+            "object_z": 0.7565901390194203,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574756230636101,
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17939647645242401,
+            "release_required_pad_clearance": 0.05493998368997714,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.917838850581127,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 248,
+            "max_placed_release_frames": 248
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5b1642e8963cb5e114e75b5ae8a3b573c5f86a3b228c65f2e493ab9b4829e9e0",
+    "visual_seed": 1291881240026234508,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_121_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_121_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a9ea0759fde8b83148d436f083fe6450f6de99d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_121_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 121,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "target": "beaker_a",
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+          "skill": "pick",
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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": {},
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
+            "last_frame": {
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+                }
+              ],
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+            },
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+          }
+        },
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+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+            "gripper_position": [
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
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+            "max_held_gripper_dist": 0.006872481421922857,
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+            "held_gripper_z_dist": 0.003670046853345932,
+            "max_held_gripper_z_dist": 0.003984690973431793,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08653870134432395,
+            "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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+              -0.19730214599980161,
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+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032189189993466344,
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+          },
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+          "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3152974427358099,
+              0.041606473859913354,
+              0.7565894930431306
+            ],
+            "target_position": [
+              0.3124071545620953,
+              0.04102970370587784,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0029472749341893307,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2178947082391661,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565894930431306,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075356159056747,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08807861518734071,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18855107602429666,
+            "release_required_pad_clearance": 0.05403930759367036,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.087405627492483,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 248,
+            "max_placed_release_frames": 248
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7b12497814baca31ed6fad5119330ce302d7a2b0ec31c40c8ca0bd62146ee29e",
+    "visual_seed": 714284691598357199,
+    "episode_index": 121,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_122_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_122_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..accd0b330c1a6348bfa03a793f444bbd031632b2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_122_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 122,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+            "object_position": [
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+              -0.18332493702841912,
+              1.0509055163694079
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+            "lift_margin": 0.1897990083546417,
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+              -0.18727138425442735,
+              1.0544466382479856
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+              -0.20674386564544614,
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+              -0.18332493702841912,
+              1.0509055163694079
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+              -0.19503440133693262,
+              1.0509055163694079
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+              0.011709464308513495,
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+            "object_to_finger_line_xy": 0.009392063664338281,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05178065918727967,
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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
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+            "stable_success_frames": 204,
+            "max_stable_success_frames": 204,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.18174845959938812,
+              1.2463745753073352
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+              -0.17772590969083044,
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+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006371836351194765,
+            "max_held_gripper_dist": 0.006384079579178148,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003175945257030799,
+            "max_held_gripper_z_dist": 0.0035120073027927745,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08618824825212829,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07509430933941513,
+              -0.9969262978628154,
+              0.02233386071366328
+            ],
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+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03228947449360908,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3086292953815758,
+              0.032624254282555054,
+              0.7565868720511251
+            ],
+            "target_position": [
+              0.3124741145838983,
+              0.03575125383462133,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.004955881445027759,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21196299032906077,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565868720511251,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521527293839832,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0869325761394774,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18266636075057682,
+            "release_required_pad_clearance": 0.0534662880697387,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9455439265856647,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 204,
+            "max_placed_release_frames": 204
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3de2aff4df16e5474e52dab9a97e016968704194cdf0fd3df8f444a3ea8a452a",
+    "visual_seed": 6330274391826135814,
+    "episode_index": 122,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_123_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_123_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..83a79b1fd01a34aabbe4edf887702361c96a8261
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_123_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 123,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+            "object_position": [
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+              1.0519095946421961
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+            "lift_margin": 0.19080314623207495,
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+              -0.19639612343423604,
+              1.0557184074423736
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+              0.003918577919363425,
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+              -0.21615376640697148,
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+              -0.19247754551487262,
+              1.0519095946421961
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+              -0.20431565596092205,
+              1.0519095946421961
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+              0.011838110446049432,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05097004109056645,
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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": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.18955532204429337,
+              1.2452655800576289
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+            "held_position": [
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+              -0.18545679215761848,
+              1.2417377824326006
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+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006577249765903912,
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+              0.038759793034796354,
+              1.2407866453850074
+            ],
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02474342773124968,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+              -0.9967772612462185,
+              0.018600306789785637
+            ],
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+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03210946581899665,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
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+          "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3042254918743245,
+              0.03140515711745808,
+              0.7565867975921743
+            ],
+            "target_position": [
+              0.31128036773254447,
+              0.03634957164420468,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.008615016447296984,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21046392874931757,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565867975921743,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567411858636758,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09274793290756599,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18005169153885373,
+            "release_required_pad_clearance": 0.056373966453782995,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.07771458761752,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 244,
+            "max_placed_release_frames": 244
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 123,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8f55ef3281ade91bc4bbec8a1d68afa9bf6b206e246d40dd7821363ddbbf38ac",
+    "visual_seed": 4029587136090817747,
+    "episode_index": 123,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_124_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_124_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6d03e7c805be91b5ca088c18650b1e59634ca7f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_124_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 124,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              1.052291824944482
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+              0.0038859242313486198,
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+              -0.21517010245401033,
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+              -0.19168126460781204,
+              1.052291824944482
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+              -0.20342568353091117,
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+              0.011744418923099131,
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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": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2755670114886307,
+              -0.1892970904166785,
+              1.2489434323399788
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+            "held_position": [
+              0.27925113515519107,
+              -0.1853061852971577,
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+              1.2356171212292888
+            ],
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+              0.3320723959715046,
+              0.048011150743128936,
+              1.2356171212292888
+            ],
+            "held_grasp_midpoint": [
+              0.3371502676742816,
+              0.035265206133049426,
+              1.2356171212292888
+            ],
+            "held_grasp_object_position": [
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+              0.048011150743128936,
+              1.2356171212292888
+            ],
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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": 0.02544083198941675,
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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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+              -0.9999435533055427,
+              0.009435028900777298
+            ],
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+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03243019067324208,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2961594391004841,
+              0.04768500158817094,
+              0.7565911841392311
+            ],
+            "target_position": [
+              0.3127666635820593,
+              0.04302210366349452,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.017249420918899926,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20464544415290964,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565911841392311,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536169270826326,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08974356939939714,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17789054344808328,
+            "release_required_pad_clearance": 0.05487178469969857,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.782255392233598,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 247,
+            "max_placed_release_frames": 247
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ba6da18613967268c4f2f6e792bbdb0ae0714b38798ce6cb91fb7108ede74dfa",
+    "visual_seed": 2660490548441638798,
+    "episode_index": 124,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_125_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_125_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..381c4c609f715a58f912ce94d6f89a1cb88a5559
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_125_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 125,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "object_position": [
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+              -0.19184899686614387,
+              1.0504117746433437
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+            "lift_margin": 0.1893052666285775,
+            "gripper_z": 1.053511225971333,
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+              -0.1958670492067086,
+              1.053511225971333
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+              -0.21530009498421415,
+              1.0504117746433437
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+              -0.19184899686614387,
+              1.0504117746433437
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+              -0.203574545925179,
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+              0.01172554905903514,
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+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.00949546284765182,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05001816453095735,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0549022355720434,
+            "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",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
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+            "held_object_xy_range": 0.08685708056415571,
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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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+              0.019440851829658955,
+              1.2004218688187582
+            ],
+            "held_grasp_finger_b": [
+              0.3387828658752142,
+              0.046755351898232295,
+              1.2005796804440905
+            ],
+            "held_grasp_midpoint": [
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+              0.03309810186394563,
+              1.2005007746314242
+            ],
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+              0.04470538295963446,
+              1.1841545806248532
+            ],
+            "held_grasp_finger_gap": 0.02851094190533632,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.027266815819143673,
+            "held_grasp_world_z_skew": 0.00015781162533223814,
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+            "held_grasp_z_skew_frame": "object_local_up",
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+              -0.9982010939379115,
+              0.059939911036653304
+            ],
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+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03263949045646238,
+            "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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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.31016494035599285,
+              0.04456956684842171,
+              0.7565873218018042
+            ],
+            "target_position": [
+              0.3166951424534396,
+              0.04294950429481803,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.006728160380898104,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21020576304757832,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565873218018042,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582645158455655,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08717165612835602,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18093766026280264,
+            "release_required_pad_clearance": 0.05358582806417801,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1807609419533396,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 246,
+            "max_placed_release_frames": 246
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "341225b91715c9e935bc8ad05ba194bba5053ce65a833e1c23e1b9af41d83e60",
+    "visual_seed": 2879472460567121041,
+    "episode_index": 125,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_126_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_126_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e38ddfa638f442b8f68337ec9bad97613324a714
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_126_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 126,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              1.0518786302606302
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+              -0.19657852526561576,
+              1.0557493787405516
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+              -0.2162199773072042,
+              1.0518786302606302
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+              -0.192765134534353,
+              1.0518786302606302
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+              -0.20449255592077858,
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+              0.011727421386425574,
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+            "object_to_finger_line_xy": 0.009104692370275896,
+            "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_upright_axis_local": [
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+              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": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00205695781936166,
+            "max_held_gripper_z_dist": 0.0020647558745816585,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08706862557980372,
+            "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": [
+              0.34532671656998215,
+              0.01846400800988314,
+              1.236320978547122
+            ],
+            "held_grasp_finger_b": [
+              0.3359392140719133,
+              0.044061139746302054,
+              1.236320978547122
+            ],
+            "held_grasp_midpoint": [
+              0.3406329653209477,
+              0.0312625738780926,
+              1.236320978547122
+            ],
+            "held_grasp_object_position": [
+              0.34532671656998215,
+              0.044061139746302054,
+              1.236320978547122
+            ],
+            "held_grasp_finger_gap": 0.027264232178494104,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025143082369780467,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.045503650086330096,
+              -0.9989497363197329,
+              0.005370487459893768
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004107092674990186,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03220151815206387,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.30622277858067487,
+              0.04218497980974298,
+              0.7565867263158021
+            ],
+            "target_position": [
+              0.3152616086578676,
+              0.04067180864207044,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.009164613256817757,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20855761361857755,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565867263158021,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541979598256304,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09336051879242378,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1802112802684352,
+            "release_required_pad_clearance": 0.05668025939621189,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.776499567701075,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 243,
+            "max_placed_release_frames": 243
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f8ff8ba808823244bda31cff5b652b7933a4401c085c960aab66a7dda5fe4519",
+    "visual_seed": 1624897003068187625,
+    "episode_index": 126,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_128_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_128_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..154599580731ddc2dd37d423bb87c62747d227f3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_128_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 128,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.27358293207601647,
+              -0.1912094515781972,
+              1.0514718325339962
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+            "current_z": 1.0514718325339962,
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+            "lift_margin": 0.19036538412387494,
+            "gripper_z": 1.054774637429172,
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+            "gripper_position": [
+              0.26988811896411785,
+              -0.1951892108152476,
+              1.054774637429172
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+              0.0036948131118986205,
+              0.0039797592370504065,
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+            "object_to_gripper_z": -0.0033028048951757594,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.27358293207601647,
+              -0.21496962590377433,
+              1.0514718325339962
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+              -0.1912094515781972,
+              1.0514718325339962
+            ],
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+              0.26853772488020133,
+              -0.20308953874098576,
+              1.0514718325339962
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011880087162788572,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.009287597808645116,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05168151646565168,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.0405800066191877,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006921155609342063,
+            "max_held_gripper_dist": 0.006922834392117669,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001987097289172679,
+            "max_held_gripper_z_dist": 0.0019929885132283776,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08758600847489914,
+            "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": [
+              0.3436742136009936,
+              0.018432299588390846,
+              1.237513836924913
+            ],
+            "held_grasp_finger_b": [
+              0.3345226652772938,
+              0.04393592185265302,
+              1.237513836924913
+            ],
+            "held_grasp_midpoint": [
+              0.3390984394391437,
+              0.031184110720521935,
+              1.237513836924913
+            ],
+            "held_grasp_object_position": [
+              0.3436742136009936,
+              0.04393592185265302,
+              1.237513836924913
+            ],
+            "held_grasp_finger_gap": 0.027095859191381657,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02486106586954518,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06419601386075952,
+              -0.9978409548608117,
+              0.013867249433563766
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037519860201274294,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032182199108002546,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2891990348173884,
+              0.04031450582477146,
+              0.756587380396265
+            ],
+            "target_position": [
+              0.31376136985907854,
+              0.03783499427153548,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.024687168331804888,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1989584388298776,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756587380396265,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536341014612075,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08892432368282953,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17265992008167957,
+            "release_required_pad_clearance": 0.054462161841414766,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.9532998029979405,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7a0c9c92023f720f3fb32685a870cff4bfae68f73cc123dd9bbca98e5027b473",
+    "visual_seed": 6982126968588746933,
+    "episode_index": 128,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_12_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff13c13bff79540b761ea97c7cf1c7d3c0cb3c93
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_12_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2714278704553181,
+              -0.1883772986399394,
+              1.050698554042334
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+            "lift_margin": 0.18959204602756807,
+            "gripper_z": 1.0541005778177825,
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+            "gripper_position": [
+              0.26763257288686826,
+              -0.19246432007126638,
+              1.0541005778177825
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+              0.003795297568449818,
+              0.00408702143132697,
+              -0.003402023775448626
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+            "object_to_gripper_z": -0.003402023775448626,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2714278704553181,
+              -0.2121481982311009,
+              1.050698554042334
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+              -0.1883772986399394,
+              1.050698554042334
+            ],
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+              0.2662852783490195,
+              -0.20026274843552017,
+              1.050698554042334
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+              0.01188544979558076,
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+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.009439478384569273,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05071660564924571,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.5045567314343056,
+            "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": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
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+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33960009719530204,
+              0.039224519708488455,
+              1.2154206971876462
+            ],
+            "held_position": [
+              0.34507261087620356,
+              0.043254382170546654,
+              1.1865068545467667
+            ],
+            "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": 0.029701826437313592,
+            "max_held_gripper_dist": 0.029734086930557485,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.028913842640879484,
+            "max_held_gripper_z_dist": 0.028916617883077755,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08829921709884637,
+            "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": [
+              0.34507261087620356,
+              0.01698849064996773,
+              1.201674467545055
+            ],
+            "held_grasp_finger_b": [
+              0.3372520911497811,
+              0.04636542379518803,
+              1.2016670796835593
+            ],
+            "held_grasp_midpoint": [
+              0.3411623510129923,
+              0.03167695722257788,
+              1.2016707736143073
+            ],
+            "held_grasp_object_position": [
+              0.34507261087620356,
+              0.043254382170546654,
+              1.1865068545467667
+            ],
+            "held_grasp_finger_gap": 0.030400078690533072,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02898609381958131,
+            "held_grasp_world_z_skew": 7.387861495677939e-06,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04381401350559559,
+              -0.9983502317441613,
+              0.037109931243687666
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.015105254389683359,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03290784391356712,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3041300565316143,
+              0.04634401147268712,
+              0.7565869704711531
+            ],
+            "target_position": [
+              0.31350306471593437,
+              0.044424725137437865,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.009567494053303907,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2086171294239158,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565869704711531,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542555931661829,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09397769472401539,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18031129813288072,
+            "release_required_pad_clearance": 0.0569888473620077,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 9.496014732422402,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 244,
+            "max_placed_release_frames": 244
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "39fe57d8b57cfb9d4b72274c4ce7d25b9d30259af741c23eb9a2cd08706beac0",
+    "visual_seed": 630316547763295099,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_133_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_133_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bffa20244777b9e7bf143985f8df43a4d1cfa8e5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_133_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 133,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2737208454108927,
+              -0.18439175265042065,
+              1.0499656988453987
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+            "required_z": 0.8611065080147657,
+            "initial_z": 0.7611065080147658,
+            "lift_margin": 0.18885919083063296,
+            "gripper_z": 1.0531971782032994,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27007298939568214,
+              -0.18843965811162422,
+              1.0531971782032994
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+              0.00364785601521056,
+              0.004047905461203566,
+              -0.0032314793579006906
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+            "object_to_gripper_xy": 0.005449072593620818,
+            "object_to_gripper_z": -0.0032314793579006906,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2737208454108927,
+              -0.20790327963039074,
+              1.0499656988453987
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+              0.26327694306821553,
+              -0.18439175265042065,
+              1.0499656988453987
+            ],
+            "finger_midpoint": [
+              0.2684988942395541,
+              -0.1961475161404057,
+              1.0499656988453987
+            ],
+            "object_minus_finger_midpoint": [
+              0.005221951171338612,
+              0.011755763489985055,
+              0.0
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+            "finger_gap": 0.025726775877929958,
+            "fingertip_max_gap": 0.09457370954874939,
+            "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": 1.1013581699939858,
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+            "fingertip_min_top_clearance": 0.01541774134457614,
+            "object_projection_between_fingers": 0.8352008838245367,
+            "object_to_finger_line_xy": 0.00954461191993658,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049786854774374695,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8015340566811078,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3374469347062119,
+              0.03991132297187898,
+              1.239768729488298
+            ],
+            "held_position": [
+              0.34270729663106336,
+              0.04423440107391581,
+              1.2377349973220444
+            ],
+            "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": 0.007106087417193222,
+            "max_held_gripper_dist": 0.007107872139875739,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0020337321662535768,
+            "max_held_gripper_z_dist": 0.002041130531262203,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08708711702204958,
+            "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": [
+              0.34270729663106336,
+              0.01865714340673594,
+              1.2377349973220444
+            ],
+            "held_grasp_finger_b": [
+              0.3333606175927262,
+              0.04423440107391581,
+              1.2377349973220444
+            ],
+            "held_grasp_midpoint": [
+              0.33803395711189477,
+              0.031445772240325874,
+              1.2377349973220444
+            ],
+            "held_grasp_object_position": [
+              0.34270729663106336,
+              0.04423440107391581,
+              1.2377349973220444
+            ],
+            "held_grasp_finger_gap": 0.027231535373882284,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025099173045989954,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.047713880169962454,
+              -0.9987442634395942,
+              0.015273568202256338
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004062602111397039,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03220467211919348,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.30459165624804646,
+              0.0493362521024094,
+              0.7565863155705922
+            ],
+            "target_position": [
+              0.3126836548769646,
+              0.03823807040869167,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.013734994674814555,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21162012466139876,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863155705922,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07760626786552173,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09598497390073239,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18441029362232345,
+            "release_required_pad_clearance": 0.0579924869503662,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 11.936230038792562,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 133,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1e1a7caa382e6e0b78aabcba6631b5188c2f7ce82d1fec02ba637591d0f46681",
+    "visual_seed": 5931363099796000516,
+    "episode_index": 133,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_136_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_136_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a26dbbb9e78ea34a24c8b0a673953cce32a88ad4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_136_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 136,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2679681624573186,
+              -0.19063479296207955,
+              1.0491973117288378
+            ],
+            "current_z": 1.0491973117288378,
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+            "initial_z": 0.7611063292008314,
+            "lift_margin": 0.18809098252800638,
+            "gripper_z": 1.0529540562379318,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2644578212562389,
+              -0.19453135084718584,
+              1.0529540562379318
+            ],
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+              0.003510341201079681,
+              0.0038965578851062888,
+              -0.0037567445090940232
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+            "object_to_gripper_xy": 0.005244583748972032,
+            "object_to_gripper_z": -0.0037567445090940232,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2679681624573186,
+              -0.2142071650656856,
+              1.0491973117288378
+            ],
+            "finger_b": [
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+              -0.19063479296207955,
+              1.0491973117288378
+            ],
+            "finger_midpoint": [
+              0.2629741287491085,
+              -0.20242097901388256,
+              1.0491973117288378
+            ],
+            "object_minus_finger_midpoint": [
+              0.004994033708210055,
+              0.01178618605180301,
+              0.0
+            ],
+            "finger_gap": 0.02560113703150348,
+            "fingertip_max_gap": 0.09885017409625071,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0491973117288378,
+            "object_top_z": 1.1020561903095378,
+            "finger_top_clearance": 0.05285887858070004,
+            "fingertip_min_top_clearance": 0.015857663574209997,
+            "object_projection_between_fingers": 0.8477895669042637,
+            "object_to_finger_line_xy": 0.00919656191231019,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05192508704812536,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.819678250167412,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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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": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "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,
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+            "gripper_position": [
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+              0.036017220249876025,
+              1.2386252462260932
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+              0.04036608670546674,
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+            "held_gripper_z_dist": 0.002156294097028999,
+            "max_held_gripper_z_dist": 0.0021637887212386797,
+            "held_gripper_z_max_dist": 0.15,
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+            "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": [
+              0.34078615472528695,
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+              1.2364689521290642
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+            "held_grasp_finger_b": [
+              0.33143888263235827,
+              0.04036608670546674,
+              1.2364689521290642
+            ],
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+              0.027539817453819726,
+              1.2364689521290642
+            ],
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+              0.04036608670546674,
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+            ],
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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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+              -0.9986495362816076,
+              0.013432323123421797
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+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03215672408121439,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.30146127361277175,
+              0.04712364545431883,
+              0.7565899401970639
+            ],
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+              0.31069318728898504,
+              0.03643067191531111,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.014126850789577034,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20819167413342665,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565899401970639,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563907853699949,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09354778152869146,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18219797780226038,
+            "release_required_pad_clearance": 0.05677389076434573,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.994552427260377,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 246,
+            "max_placed_release_frames": 246
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 136,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "65f84ddf356e1b4bf8ce6da2d4bcd9a40a47bf88d25b7af98c98948440c3a9eb",
+    "visual_seed": 3650545331615604813,
+    "episode_index": 136,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_137_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_137_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..859526893c056e853f4d7cea1cb40f21d0315620
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_137_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 137,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+              -0.18701613688351842,
+              1.0506507392789977
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+            "lift_margin": 0.1895441716595867,
+            "gripper_z": 1.0544165902847635,
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+              -0.1906948951614637,
+              1.0544165902847635
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+              0.003678758277945282,
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+              -0.21006694362100717,
+              1.0506507392789977
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+              1.0506507392789977
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+              -0.19854154025226278,
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+              0.011525403368744358,
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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": 0.016687240113312674,
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+            "object_to_finger_line_xy": 0.009106439830967926,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_tilt_deg": 6.258502566756338,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
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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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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
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+              0.035961563993606935,
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+            "held_gripper_z_dist": 0.0020153727601810445,
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+            "held_motion_ok": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.3430577288543954,
+              0.014559937830626387,
+              1.2386460806699968
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+              0.04029486400660575,
+              1.2386460806699968
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+              1.2386460806699968
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+              0.04013028782183547,
+              1.2386460806699968
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+              -0.07792081701368217,
+              -0.9967477069970571,
+              0.02055127421911762
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+            "held_grasp_top_clearance": 0.03219221952433623,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.29844634982423884,
+              0.03374035660077258,
+              0.7565864685890684
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+              0.03803349614717208,
+              0.7730800627579277
+            ],
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+            "xy_dist": 0.01511071938225215,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20622764995850537,
+            "gripper_away_threshold": 0.04,
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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",
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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": 0.17709620980298005,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.526536354455398,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 243,
+            "max_placed_release_frames": 243
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 137,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0b2eb346ab100b2982ffd6a52de94be2f43248c6b6f72a871a28b5bfc3a26b76",
+    "visual_seed": 1221149755864254071,
+    "episode_index": 137,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_138_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_138_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b085c09ce815179993669b680b5d470577956ab
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_138_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 138,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+              1.0490899328393073
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+            "lift_margin": 0.18798354403383088,
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+              -0.19216698824097456,
+              1.053291044978395
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+              0.0038998687189678305,
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+            "object_to_gripper_z": -0.004201112139087693,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.21200606064198857,
+              1.0490899328393073
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+              -0.18826711952200673,
+              1.0490899328393073
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+              -0.20013659008199763,
+              1.0490899328393073
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+              0.011869470559990908,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "fingertip_min_top_clearance": 0.01597421632599465,
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+            "object_to_finger_line_xy": 0.00912877762682934,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05258762968670999,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 4.177131415418193,
+            "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",
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
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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": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.0381052360806786,
+              1.2387036348660774
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+              0.04232525931596831,
+              1.236725696333196
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006906107589849287,
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+            "held_gripper_z_dist": 0.001977938532881307,
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+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3464134795420987,
+              0.016788215605163085,
+              1.236725696333196
+            ],
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+              0.33734265032910044,
+              0.04232525931596831,
+              1.236725696333196
+            ],
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+              0.029556737460565696,
+              1.236725696333196
+            ],
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+              0.04232525931596831,
+              1.236725696333196
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07518657431849782,
+              -0.9970654116536393,
+              0.01440638491114199
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03212817117846853,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
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+          "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3104876266363776,
+              0.03702258491651027,
+              0.7565922197214933
+            ],
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+              0.036897504363626835,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.005965480185933769,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2115790555397931,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565922197214933,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589301542365708,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08535956356468792,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1822040681751798,
+            "release_required_pad_clearance": 0.05267978178234396,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.40142038081917697,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 241,
+            "max_placed_release_frames": 241
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 138,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9c7fab88e1abbda6b32bc5c8237576c5f1fbeb4d806692c875489bb92583c0c4",
+    "visual_seed": 3363057112966786345,
+    "episode_index": 138,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_139_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_139_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0131708b4df4a86a2bb2f51810515c3e241c1c7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_139_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 139,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
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+          "metrics": {
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+              1.0508772105502884
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+            "lift_margin": 0.1897707025355223,
+            "gripper_z": 1.0544805925542187,
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+              -0.1882630758471269,
+              1.0544805925542187
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+            "object_to_gripper_z": -0.003603382003930289,
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+              0.26624670488745705,
+              -0.2083271698216447,
+              1.0508772105502884
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+              -0.18441557452656404,
+              1.0508772105502884
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+              0.2614262969396301,
+              -0.19637137217410439,
+              1.0508772105502884
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+              0.011955797647540345,
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+            "object_projection_between_fingers": 0.8601715482098484,
+            "object_to_finger_line_xy": 0.008941416519786874,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04988246568929955,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2573703269002574,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 203,
+            "max_stable_success_frames": 203,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
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+                "ur5e",
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+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "base_link",
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+                "floor",
+                "ground",
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+            },
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+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "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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+              0.028417393716537995,
+              1.215945385958842
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+              0.031400710058820856,
+              1.187538697578581
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+            "required_gripper_z": 0.8930800627579277,
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+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.028970873430048345,
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+            "held_gripper_z_dist": 0.028406688380260947,
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+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3427674431480734,
+              0.004719463046326391,
+              1.2021956451577713
+            ],
+            "held_grasp_finger_b": [
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+              0.04067663213679823,
+              1.2016650403307565
+            ],
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+              0.022698047591562312,
+              1.201930342744264
+            ],
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+              0.031400710058820856,
+              1.187538697578581
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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": 0.0005306048270148356,
+            "held_grasp_z_skew_max": 0.08,
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+            "held_grasp_local_up_axis": [
+              -0.12454175290474455,
+              -0.9902995139421046,
+              0.061613508822702556
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+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03542917476817517,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
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+          "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.30296880267417325,
+              0.038196254075868186,
+              0.7565863565374857
+            ],
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+              0.30923087919055525,
+              0.03869781048850248,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.006282130302061355,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21216424811266463,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863565374857,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571064445960278,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08873089440590624,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18270809835026539,
+            "release_required_pad_clearance": 0.054365447202953124,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.754020155216415,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 248,
+            "max_placed_release_frames": 248
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 139,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "092d4e21cf7c083115755c91ba8870df677d52d1bdd7895468be6abc70293c11",
+    "visual_seed": 7730606605945082028,
+    "episode_index": 139,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_14_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..496d873807eea33cb9305c4c40907188c35eeb22
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_14_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              1.0511993459182052
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+            "lift_margin": 0.190092897508084,
+            "gripper_z": 1.0548275472416446,
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+            "virtual_attach_allowed": false,
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+              -0.18928588945935526,
+              1.0548275472416446
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+              0.0038203390884617994,
+              0.004105470794424526,
+              -0.0036282013234394395
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+            "object_to_gripper_z": -0.0036282013234394395,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2708203655191186,
+              -0.20906931580191282,
+              1.0511993459182052
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+              -0.18518041866493073,
+              1.0511993459182052
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+              0.26571534541172726,
+              -0.19712486723342176,
+              1.0511993459182052
+            ],
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+              0.011944448568491028,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.009388495702619843,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05019024707509706,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.034692793696936,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
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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",
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+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3386124419395905,
+              0.038166788045324126,
+              1.2398788796938325
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+              0.042420866089010106,
+              1.2379304954814927
+            ],
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00694424170266192,
+            "max_held_gripper_dist": 0.006945574300552025,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001948384212339782,
+            "max_held_gripper_z_dist": 0.001955076888896512,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08753961329043863,
+            "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": [
+              0.3437436320339373,
+              0.016901629591521937,
+              1.2379304954814927
+            ],
+            "held_grasp_finger_b": [
+              0.3345469086291265,
+              0.042420866089010106,
+              1.2379304954814927
+            ],
+            "held_grasp_midpoint": [
+              0.3391452703315319,
+              0.02966124784026602,
+              1.2379304954814927
+            ],
+            "held_grasp_object_position": [
+              0.3437436320339373,
+              0.042420866089010106,
+              1.2379304954814927
+            ],
+            "held_grasp_finger_gap": 0.027125839209125445,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024759526863949482,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0745733189228898,
+              -0.9971049507678885,
+              0.014850496927433678
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003639100379248215,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032134631346323474,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.308628438537741,
+              0.0380642787370455,
+              0.7565864199923825
+            ],
+            "target_position": [
+              0.3137878055372545,
+              0.03773561109726762,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.00516982497315971,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2122234699140395,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864199923825,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576184385852246,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08586771106498374,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18274182393990146,
+            "release_required_pad_clearance": 0.05293385553249187,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9048146684736923,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 242,
+            "max_placed_release_frames": 242
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c6ddff8dcc96497bf8d96b37bfe16a2d73f491bb3159ecb96d269786b270095e",
+    "visual_seed": 1810373262375978798,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_15_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..179321f209f464fe9a47279367755d64111137b6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_15_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2701448684667761,
+              -0.1885937782399237,
+              1.050381539854225
+            ],
+            "current_z": 1.050381539854225,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.18927515104874848,
+            "gripper_z": 1.0536032600698033,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2666128543748736,
+              -0.1925558740750134,
+              1.0536032600698033
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+              0.0035320140919025134,
+              0.003962095835089691,
+              -0.0032217202155782054
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+            "object_to_gripper_xy": 0.005307855212026136,
+            "object_to_gripper_z": -0.0032217202155782054,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2701448684667761,
+              -0.21207250329071833,
+              1.050381539854225
+            ],
+            "finger_b": [
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+              -0.1885937782399237,
+              1.050381539854225
+            ],
+            "finger_midpoint": [
+              0.26502802492316546,
+              -0.20033314076532102,
+              1.050381539854225
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051168435436106385,
+              0.011739362525397312,
+              0.0
+            ],
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+            "fingertip_max_gap": 0.09455783301019757,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050381539854225,
+            "object_top_z": 1.1014576272717165,
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+            "fingertip_min_top_clearance": 0.015322826225247426,
+            "object_projection_between_fingers": 0.8403479831941328,
+            "object_to_finger_line_xy": 0.009381271709183632,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04977891650509879,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.186509931801168,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
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+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3404825614073562,
+              0.04407473151252918,
+              1.2399236771356712
+            ],
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+              0.3457780449964731,
+              0.048634214722191794,
+              1.237042014694673
+            ],
+            "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": 0.007558770535322586,
+            "max_held_gripper_dist": 0.007562079807328454,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0028816624409981895,
+            "max_held_gripper_z_dist": 0.0028908918656118665,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08727417731722394,
+            "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": [
+              0.3457780449964731,
+              0.023304036875568677,
+              1.237042014694673
+            ],
+            "held_grasp_finger_b": [
+              0.3356086368093659,
+              0.048634214722191794,
+              1.237042014694673
+            ],
+            "held_grasp_midpoint": [
+              0.3406933409029195,
+              0.03596912579888024,
+              1.237042014694673
+            ],
+            "held_grasp_object_position": [
+              0.3457780449964731,
+              0.048634214722191794,
+              1.237042014694673
+            ],
+            "held_grasp_finger_gap": 0.027295325105547993,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025393804151942354,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.006456231415462717,
+              -0.999919868415164,
+              0.010889160872678218
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005168202497176346,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03256897894245386,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3005569123392817,
+              0.046584415151250495,
+              0.756593373640774
+            ],
+            "target_position": [
+              0.3166967889100086,
+              0.041710619940685464,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.016859700337574928,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20456032666089038,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756593373640774,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544936013920134,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08535272925477243,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17780293681011128,
+            "release_required_pad_clearance": 0.052676364627386216,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.37463617896972945,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 244,
+            "max_placed_release_frames": 244
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "40cb1dded745a190e8c34e263314013f87053b47c78bdb9275c0b6ac705c23ec",
+    "visual_seed": 7693542986093269730,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_16_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f225c4a5a2b472cbe4f8aab9fef620e5aa7df5d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_16_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              -0.19330847723837727,
+              1.0487856117820111
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+            "current_z": 1.0487856117820111,
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+            "lift_margin": 0.18767922297653472,
+            "gripper_z": 1.0522174362755559,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              0.2638377385731482,
+              -0.19752160106798522,
+              1.0522174362755559
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+              0.003990453090781776,
+              0.004213123829607951,
+              -0.003431824493544733
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+            "object_to_gripper_z": -0.003431824493544733,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26782819166392996,
+              -0.21707673839334635,
+              1.0487856117820111
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+            "finger_b": [
+              0.2571916451287779,
+              -0.19330847723837727,
+              1.0487856117820111
+            ],
+            "finger_midpoint": [
+              0.26250991839635396,
+              -0.2051926078158618,
+              1.0487856117820111
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+              0.005318273267576001,
+              0.011884130577484525,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.8331488940008559,
+            "object_to_finger_line_xy": 0.009708719538531136,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.051449955640769124,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.924329693802537,
+            "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
+          },
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+                "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",
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+                "workbench"
+              ],
+              "enabled": true
+            },
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+            "source_missing": false,
+            "forbidden": [],
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+              "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": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33637458319175095,
+              0.03762725939754612,
+              1.2414995612434077
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+              0.04189647715576182,
+              1.2394327204232862
+            ],
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007033251816579836,
+            "max_held_gripper_dist": 0.007034772623039905,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0020668408201214294,
+            "max_held_gripper_z_dist": 0.002073079078336093,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08705607625034478,
+            "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": [
+              0.3415677113311905,
+              0.016387267919725782,
+              1.2394327204232862
+            ],
+            "held_grasp_finger_b": [
+              0.33225823386281644,
+              0.04189647715576182,
+              1.2394327204232862
+            ],
+            "held_grasp_midpoint": [
+              0.3369129725970035,
+              0.0291418725377438,
+              1.2394327204232862
+            ],
+            "held_grasp_object_position": [
+              0.3415677113311905,
+              0.04189647715576182,
+              1.2394327204232862
+            ],
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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": 0.024856409917419678,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0639481117238288,
+              -0.9977468602477447,
+              0.020293887570498548
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038385202870698516,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03217669650186289,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2958021552914018,
+              0.0492647119528969,
+              0.7565872373024277
+            ],
+            "target_position": [
+              0.31163434961029496,
+              0.03740307624350606,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.019782739412262617,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20459264099360921,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565872373024277,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583747453249154,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08914580149083089,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1796724661061634,
+            "release_required_pad_clearance": 0.054572900745415445,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.178568559420172,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 245,
+            "max_placed_release_frames": 245
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4327ea1bc423feff3ffb21f3df47b8ab9ff8509c1cb3ed75dc7f018c9be824f5",
+    "visual_seed": 195302812040180434,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_19_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d90730165b84041bed3b33c63a1e707a9abc7ba9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_19_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2670881116289713,
+              -0.1926238688652477,
+              1.0504633228960647
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+            "current_z": 1.0504633228960647,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.18935681488129874,
+            "gripper_z": 1.0540880843806077,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.19653078283859343,
+              1.0540880843806077
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+              0.003400416957520025,
+              0.0039069139733457214,
+              -0.0036247614845430487
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+            "object_to_gripper_xy": 0.005179460616716165,
+            "object_to_gripper_z": -0.0036247614845430487,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2670881116289713,
+              -0.21592573037555976,
+              1.0504633228960647
+            ],
+            "finger_b": [
+              0.25685560935106144,
+              -0.1926238688652477,
+              1.0504633228960647
+            ],
+            "finger_midpoint": [
+              0.26197186049001636,
+              -0.20427479962040374,
+              1.0504633228960647
+            ],
+            "object_minus_finger_midpoint": [
+              0.005116251138954919,
+              0.011650930755156025,
+              0.0
+            ],
+            "finger_gap": 0.02544957470593943,
+            "fingertip_max_gap": 0.10397516906967208,
+            "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": 1.0504633228960647,
+            "object_top_z": 1.105855068662549,
+            "finger_top_clearance": 0.05539174576648431,
+            "fingertip_min_top_clearance": 0.016617523729945325,
+            "object_projection_between_fingers": 0.8383399749601748,
+            "object_to_finger_line_xy": 0.009368971927383963,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05448758453483604,
+            "require_object_upright": true,
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3357838422316793,
+              0.04052228772056926,
+              1.2428386525443818
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+            "held_position": [
+              0.3410454041801856,
+              0.044854260501375816,
+              1.2405951422488692
+            ],
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007175190642602389,
+            "max_held_gripper_dist": 0.007176962279126342,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022435102955125075,
+            "max_held_gripper_z_dist": 0.0022505318004464314,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0870941675022608,
+            "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": [
+              0.3410454041801856,
+              0.019346002546722463,
+              1.2405951422488692
+            ],
+            "held_grasp_finger_b": [
+              0.3315640338108501,
+              0.044854260501375816,
+              1.2405951422488692
+            ],
+            "held_grasp_midpoint": [
+              0.33630471899551784,
+              0.03210013152404914,
+              1.2405951422488692
+            ],
+            "held_grasp_object_position": [
+              0.3410454041801856,
+              0.044854260501375816,
+              1.2405951422488692
+            ],
+            "held_grasp_finger_gap": 0.027213371859467345,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024750436903269224,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07257738562243188,
+              -0.9972680228503392,
+              0.013748225208665473
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038066716328754966,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0321368734406518,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2979982666599832,
+              0.05054453568536582,
+              0.7565869457945759
+            ],
+            "target_position": [
+              0.3110602408967888,
+              0.040754117084920764,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.01632383127010672,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2057831607201867,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565869457945759,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529042773948508,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0924526645187435,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1798501836104772,
+            "release_required_pad_clearance": 0.05622633225937175,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 7.7438277661738635,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 245,
+            "max_placed_release_frames": 245
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "de6c8ae89024c07e0294c5f58960de086c4b8bee787155bb404ece9998f959dd",
+    "visual_seed": 1070890405487522735,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_1_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e63e678f881553c3563c48c3864e73e37d535d5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_1_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2728020010557606,
+              -0.1843091267397282,
+              1.0514840625695578
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+            "current_z": 1.0514840625695578,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.19037767376408143,
+            "gripper_z": 1.0552804159180067,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.1881660998603617,
+              1.0552804159180067
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+              0.0036037373464284927,
+              0.003856973120633489,
+              -0.0037963533484488554
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+            "object_to_gripper_xy": 0.005278557048600755,
+            "object_to_gripper_z": -0.0037963533484488554,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2728020010557606,
+              -0.20818810593656326,
+              1.0514840625695578
+            ],
+            "finger_b": [
+              0.26306358410770825,
+              -0.1843091267397282,
+              1.0514840625695578
+            ],
+            "finger_midpoint": [
+              0.2679327925817344,
+              -0.19624861633814572,
+              1.0514840625695578
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+            "object_minus_finger_midpoint": [
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+              0.011939489598417508,
+              0.0
+            ],
+            "finger_gap": 0.02578841623940861,
+            "fingertip_max_gap": 0.09426286971761841,
+            "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": 1.0514840625695578,
+            "object_top_z": 1.1022015385278707,
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
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+                "fr3_duo_mobile",
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+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
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+                "joint3",
+                "joint4",
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+                "joint6",
+                "joint7",
+                "left_inner_finger",
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+                "mobile_translate_x",
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+                "panda_joint1",
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+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "desk",
+                "floor",
+                "ground",
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+                "workbench"
+              ],
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+            },
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "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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+              0.04141332384963893,
+              1.2419458755298967
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+              0.04570431077864496,
+              1.239863604660102
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+            "required_gripper_z": 0.8930800627579277,
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+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007108213170391556,
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+            "held_gripper_z_dist": 0.0020822708697947334,
+            "max_held_gripper_z_dist": 0.0020890613009953984,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08709828770836951,
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+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3412455572004264,
+              0.020134326957451917,
+              1.239863604660102
+            ],
+            "held_grasp_finger_b": [
+              0.3319317080154755,
+              0.04570431077864496,
+              1.239863604660102
+            ],
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+              0.3365886326079509,
+              0.03291931886804844,
+              1.239863604660102
+            ],
+            "held_grasp_object_position": [
+              0.3412455572004264,
+              0.04570431077864496,
+              1.239863604660102
+            ],
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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": 0.0247382760349157,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08021908219879603,
+              -0.9966930228226232,
+              0.012958283369525536
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003620220235600383,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03208393851499816,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.28564658689023775,
+              0.04442562952398889,
+              0.7565865019416361
+            ],
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+              0.311044876110768,
+              0.041786392943930384,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.025535047778596786,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1999372292574568,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865019416361,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757063146439063,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0906651280346069,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1732493251676302,
+            "release_required_pad_clearance": 0.05533256401730345,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.777596794447927,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 241,
+            "max_placed_release_frames": 241
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "39f51a8a3139952adc5d73bada97735e3bd58dac814d3c0b521cb76521608894",
+    "visual_seed": 2889109242142080969,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_21_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..58b5aeb4373a4c124e02b02ddbd0061ddd0ff992
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_21_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
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+              -0.19124647142410073,
+              1.0492499773185935
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+            "current_z": 1.0492499773185935,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.18814358851311708,
+            "gripper_z": 1.052563762608869,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2668376889434476,
+              -0.1950914202464788,
+              1.052563762608869
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+              0.0033810455534643014,
+              0.0038449488223780692,
+              -0.003313785290275595
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+            "object_to_gripper_xy": 0.005120068405920689,
+            "object_to_gripper_z": -0.003313785290275595,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2702187344969119,
+              -0.21473215208846702,
+              1.0492499773185935
+            ],
+            "finger_b": [
+              0.2602977879808222,
+              -0.19124647142410073,
+              1.0492499773185935
+            ],
+            "finger_midpoint": [
+              0.2652582612388671,
+              -0.20298931175628387,
+              1.0492499773185935
+            ],
+            "object_minus_finger_midpoint": [
+              0.0049604732580448285,
+              0.011742840332183146,
+              0.0
+            ],
+            "finger_gap": 0.025495144165972105,
+            "fingertip_max_gap": 0.09777098377004956,
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+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
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+                "fr3_rightfinger",
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+                "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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+                "base_link",
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+                "desk",
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+                "workbench"
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+            "last_frame": {
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "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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+              0.03862408872737297,
+              1.2418715268736622
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+              0.043128129208343816,
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+            "min_shake_count": 3,
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+            "held_gripper_z_dist": 0.0024115168201908066,
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+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08706831447063665,
+            "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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+              0.34098697338067135,
+              0.017395540395828697,
+              1.2394600100534714
+            ],
+            "held_grasp_finger_b": [
+              0.331223477250791,
+              0.043128129208343816,
+              1.2394600100534714
+            ],
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+              0.030261834802086256,
+              1.2394600100534714
+            ],
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+              0.043128129208343816,
+              1.2394600100534714
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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": 0.02528330402783008,
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+            "held_grasp_z_skew_max": 0.08,
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+            "held_grasp_local_up_axis": [
+              -0.042909769361815425,
+              -0.9988211284217102,
+              0.02269592720505997
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+            "held_grasp_object_to_finger_line_xy": 0.0043351686800306025,
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+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032139623584797584,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.30811038860385587,
+              0.04787536408423195,
+              0.7565869864199722
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+              0.040110419499984167,
+              0.7730800627579277
+            ],
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+            "xy_dist": 0.008166967806566098,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2144817783578921,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565869864199722,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585536164960115,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09373012478034197,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1860007150791011,
+            "release_required_pad_clearance": 0.05686506239017099,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 9.207197779108554,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 247,
+            "max_placed_release_frames": 247
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "468230960808cdcc75ad60b7b6a79a0918d19d720c7a0104dc9dc5f3f6231d1e",
+    "visual_seed": 6010320832432601483,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_22_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a85b71cbe86fdb3eaa00c59f51f3503e3fc9fdf
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_22_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              -0.1862360908834674,
+              1.0524895918110715
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+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.19138320300559508,
+            "gripper_z": 1.0559786986914603,
+            "force_virtual_attach": false,
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+            "gripper_position": [
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+              -0.19023383968920948,
+              1.0559786986914603
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+              0.0034367841949569655,
+              0.00399774880574208,
+              -0.003489106880388837
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+            "object_to_gripper_xy": 0.0052719523059790874,
+            "object_to_gripper_z": -0.003489106880388837,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27172635158547287,
+              -0.2095884657934344,
+              1.0524895918110715
+            ],
+            "finger_b": [
+              0.26137982341451205,
+              -0.1862360908834674,
+              1.0524895918110715
+            ],
+            "finger_midpoint": [
+              0.26655308749999246,
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+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
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+                "franka",
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+                "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",
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+                "wrist",
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+                "wrist_2_joint",
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+                "base_link",
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+                "workbench"
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+            "last_frame": {
+              "passed": true,
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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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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "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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+              0.03590278919879614,
+              1.2426824413028124
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+              0.04009859156084477,
+              1.2405745872046106
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+            "required_gripper_z": 0.8930800627579277,
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+            "held_gripper_z_dist": 0.0021078540982018,
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+            "held_gripper_z_max_dist": 0.15,
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+            "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": [
+              0.34552872480497476,
+              0.01463111236123401,
+              1.2405745872046106
+            ],
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+              0.33638710927018095,
+              0.04009859156084477,
+              1.2405745872046106
+            ],
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+              0.02736485196103939,
+              1.2405745872046106
+            ],
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+              0.04009859156084477,
+              1.2405745872046106
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
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+            "held_grasp_local_up_axis": [
+              -0.07294513628527463,
+              -0.9972063519065709,
+              0.016077898168323276
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+            "held_grasp_object_to_finger_line_xy": 0.003635687125229468,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03216864075783405,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3167118164419496,
+              0.03289698383977726,
+              0.7565864205927322
+            ],
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+              0.03671213562912445,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.003995405027006128,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2177022546797652,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864205927322,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558585157544895,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08594576039385514,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18704013842851147,
+            "release_required_pad_clearance": 0.05297288019692757,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9803771336285964,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 204,
+            "max_placed_release_frames": 204
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c21575ef960d1379350728f95f44e4bfbb673b15b66e9390245eeeeb481d5ccf",
+    "visual_seed": 114388953980644068,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_2_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..53432b345fba27df13a77a6e6e36b2dfd615fd95
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_2_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.266959045981472,
+              -0.19039074399919467,
+              1.0513504426436877
+            ],
+            "current_z": 1.0513504426436877,
+            "required_z": 0.8611063888054765,
+            "initial_z": 0.7611063888054765,
+            "lift_margin": 0.1902440538382112,
+            "gripper_z": 1.0549461648423613,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2632007779895812,
+              -0.19436342314747962,
+              1.0549461648423613
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+            "object_minus_gripper": [
+              0.003758267991890829,
+              0.003972679148284947,
+              -0.0035957221986735455
+            ],
+            "object_to_gripper_xy": 0.005468707151977434,
+            "object_to_gripper_z": -0.0035957221986735455,
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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",
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+                "joint6",
+                "joint7",
+                "left_inner_finger",
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+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "desk",
+                "floor",
+                "ground",
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+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3382477550232661,
+              0.04622050470476197,
+              1.2376734646996594
+            ],
+            "held_position": [
+              0.3438629733162065,
+              0.0507680080630912,
+              1.2347744008190176
+            ],
+            "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": 0.00778556578903748,
+            "max_held_gripper_dist": 0.007790411193277433,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0028990638806418723,
+            "max_held_gripper_z_dist": 0.002910435885243423,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08689247340495179,
+            "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": [
+              0.3438629733162065,
+              0.02500944370995991,
+              1.2347744008190176
+            ],
+            "held_grasp_finger_b": [
+              0.3341027252962357,
+              0.0507680080630912,
+              1.2347744008190176
+            ],
+            "held_grasp_midpoint": [
+              0.33898284930622113,
+              0.03788872588652556,
+              1.2347744008190176
+            ],
+            "held_grasp_object_position": [
+              0.3438629733162065,
+              0.0507680080630912,
+              1.2347744008190176
+            ],
+            "held_grasp_finger_gap": 0.027545708902581373,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02546874350418226,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02861057840377292,
+              -0.9995894760442229,
+              0.001521244568636781
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004509685560878519,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032186606872504,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3012704228820572,
+              0.039614726555637886,
+              0.7565872014697788
+            ],
+            "target_position": [
+              0.31372501012681436,
+              0.044836139001210154,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.013504809934391713,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20498602274237854,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565872014697788,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756771139720418,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09573230902224276,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17521820869526347,
+            "release_required_pad_clearance": 0.057866154511121384,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 11.616988966660191,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 235,
+            "max_placed_release_frames": 235
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "32484f284f1418faa190f6112bb6abffcef063c8b545530667992fe41d1522b4",
+    "visual_seed": 598848178179627909,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_31_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..950c034d9f1f7c81c2b62274d4c4969ee0fde405
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_31_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2731801936369961,
+              -0.1838569223433682,
+              1.049240635342989
+            ],
+            "current_z": 1.049240635342989,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.18813394851428888,
+            "gripper_z": 1.0526934745458332,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2696864736963869,
+              -0.18775742505580872,
+              1.0526934745458332
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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",
+                "gripper_center",
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+                "joint3",
+                "joint4",
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+                "joint7",
+                "left_inner_finger",
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+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
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+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
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+                "desk",
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+                "ground",
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+                "workbench"
+              ],
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+            },
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3347441174032606,
+              0.03712308440086161,
+              1.2389975231691963
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+              0.3399045624681449,
+              0.041393820289445146,
+              1.2368275041221055
+            ],
+            "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": 0.007041190308638219,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0021700190470907987,
+            "max_held_gripper_z_dist": 0.0021757220667488752,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08744752425081229,
+            "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": [
+              0.3399045624681449,
+              0.015850561486341404,
+              1.2368275041221055
+            ],
+            "held_grasp_finger_b": [
+              0.33068528443343725,
+              0.041393820289445146,
+              1.2368275041221055
+            ],
+            "held_grasp_midpoint": [
+              0.33529492345079104,
+              0.028622190887893275,
+              1.2368275041221055
+            ],
+            "held_grasp_object_position": [
+              0.3399045624681449,
+              0.041393820289445146,
+              1.2368275041221055
+            ],
+            "held_grasp_finger_gap": 0.02715608877882784,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02479929598279963,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07306200943536614,
+              -0.9972445238061602,
+              0.012857002601355801
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003667973013478305,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032126997995651885,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.28428588016608847,
+              0.040150325697187156,
+              0.756586477837157
+            ],
+            "target_position": [
+              0.30996388062018665,
+              0.03742783174082481,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.02582192248193569,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.19969070634302855,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756586477837157,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753943170202383,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09077597007850342,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17354721776425763,
+            "release_required_pad_clearance": 0.055387985039251714,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.901097931759965,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 242,
+            "max_placed_release_frames": 242
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cb85e062a24835f001452500892893cb16caf651f2daa8f57783e8541d5fb53b",
+    "visual_seed": 5338439650891150459,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_35_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..84408e08cd149c7deb923725efcd1555de94f860
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_35_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2673774739638557,
+              -0.1868191899581837,
+              1.0482667539094654
+            ],
+            "current_z": 1.0482667539094654,
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+                "fr3_joint4",
+                "fr3_joint5",
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "geometry",
+                "gripper",
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+                "panda_joint5",
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+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+                "wrist_3_joint"
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+                "base_link",
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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": []
+          }
+        },
+        "gripper": null,
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+      },
+      "physical_semantics": {
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+        "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": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
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+            "gripper_position": [
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+              0.041963438569765185,
+              1.2392427029491027
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+              0.04629936007643905,
+              1.2369156770478915
+            ],
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+            "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_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002327025901211144,
+            "max_held_gripper_z_dist": 0.0023333920849462064,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08699530695087196,
+            "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": [
+              0.33964189820430263,
+              0.02071672314861386,
+              1.2369156770478915
+            ],
+            "held_grasp_finger_b": [
+              0.33025639412851215,
+              0.04629936007643905,
+              1.2369156770478915
+            ],
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+              0.33494914616640736,
+              0.033508041612526455,
+              1.2369156770478915
+            ],
+            "held_grasp_object_position": [
+              0.33964189820430263,
+              0.04629936007643905,
+              1.2369156770478915
+            ],
+            "held_grasp_finger_gap": 0.0272499357602473,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024791735199396193,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07616721583396106,
+              -0.9970279055285719,
+              0.01157198467904508
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003707879346941323,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032089489651461425,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.30322299813016795,
+              0.039543998667150616,
+              0.7565865760447312
+            ],
+            "target_position": [
+              0.3096189833782412,
+              0.040841604679814236,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.006526285977312904,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21150573809982298,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865760447312,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549033383343999,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08694728341163126,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18207185857508504,
+            "release_required_pad_clearance": 0.05347364170581563,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9551727579354101,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 237,
+            "max_placed_release_frames": 237
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "422213766fbafe1bc8273b85b1c3e409570956d216409ce7198646570f6755c7",
+    "visual_seed": 480409174255091001,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_41_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6041df9951e1478a9dd9da91263ed39dda31c3f8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_41_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "left_inner_finger",
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+                "panda_joint1",
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+                "panda_joint4",
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+                "panda_joint6",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "desk",
+                "floor",
+                "ground",
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+                "workbench"
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+            },
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+            "last_frame": {
+              "passed": true,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+      },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3396495788740653,
+              0.03764724791901029,
+              1.240933475241797
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+              0.041872587195661067,
+              1.2390442212188009
+            ],
+            "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": 0.006909473348772211,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001889254022996223,
+            "max_held_gripper_z_dist": 0.0018955425816125082,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08710325324493431,
+            "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": [
+              0.34477969087978005,
+              0.016389425571291413,
+              1.2390442212188009
+            ],
+            "held_grasp_finger_b": [
+              0.3355679416570699,
+              0.041872587195661067,
+              1.2390442212188009
+            ],
+            "held_grasp_midpoint": [
+              0.34017381626842497,
+              0.029131006383476238,
+              1.2390442212188009
+            ],
+            "held_grasp_object_position": [
+              0.34477969087978005,
+              0.041872587195661067,
+              1.2390442212188009
+            ],
+            "held_grasp_finger_gap": 0.027097008139568616,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024807141179314342,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06676559842626711,
+              -0.9976065569670115,
+              0.017986449433047058
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003752073374501043,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03218162642674666,
+            "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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3078654272006421,
+              0.0391463987191015,
+              0.7565870678017536
+            ],
+            "target_position": [
+              0.314813522566925,
+              0.03822933152361616,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.007008355118000068,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2090598311008552,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565870678017536,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519430796660262,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08774141228031444,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1810195243924495,
+            "release_required_pad_clearance": 0.053870706140157223,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.747461019240092,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 241,
+            "max_placed_release_frames": 241
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "802de88f55b47a6da244d41009cfd077092d49be5b522fe7ade9ac66d219b270",
+    "visual_seed": 864430435583969173,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_44_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e71d3e98eb1b4ee90531187d2b1550eb0772fa3d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_44_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 44,
+  "success": true,
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+                "ridgebase_ur16e",
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+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+          }
+        },
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+            "held_grasp_local_up_axis": [
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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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": 5,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.30173134370014393,
+              0.040393793444812094,
+              0.7565862711727082
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+            "target_position": [
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+              0.04213129807205129,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.009680017137101402,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20776764618892804,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565862711727082,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586968422322224,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08880288343045666,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1782518162601886,
+            "release_required_pad_clearance": 0.05440144171522833,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.827741391432993,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 243,
+            "max_placed_release_frames": 243
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "46745840db965d30a42a7a32d717f901f133ce3bb4493e1e9c53186f8e4c4671",
+    "visual_seed": 8022677676167083386,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_45_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..efdd661f36ffbcc8983a88105a640ff89d7a5a5d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_45_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+            "required_stable_lift_frames": 5
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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",
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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"
+              ],
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+                "defaultgroundplane",
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+                "ground",
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+                "link0",
+                "table",
+                "wheel",
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+                {
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+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
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+          "passed": true,
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+                "festo",
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+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "base_link",
+                "caster",
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+                  "b": "/World/beaker_2/mesh"
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+      "reason": "executed",
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+          "failure_code": null,
+          "failure_messages": {},
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+              "held_object": "beaker_a",
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+                "inspection_platform"
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+              "allowed_object_paths": [
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+                "/World/target_plat"
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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",
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+                "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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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+    {
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+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
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+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_47_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..12d5ca64a171ff4916fd6865402f9ee32de5f219
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_47_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+              1.0506445314798964
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+              1.0506445314798964
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+              1.0506445314798964
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+              0.011948844877168463,
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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": {},
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+              "allowed_objects": [
+                "beaker_a"
+              ],
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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,
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+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+            },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              -0.18338895654500084,
+              1.2392100185739832
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+            "held_shake_count": 5,
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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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+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
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+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "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": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+                {
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+                  "b": "/World/beaker_2/mesh"
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+              "ignored": [],
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+    {
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+      "target": "inspection_platform",
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+      "reason": "executed",
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+        "checker": {
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 197,
+            "max_placed_release_frames": 197
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "inspection_platform"
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+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/target_plat"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "panda_joint2",
+                "panda_joint3",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+              ],
+              "ignored_prim_substrings": [
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+                "desk",
+                "floor",
+                "ground",
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+                "wheel",
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+            },
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+    "task_island_state_digest": "b59d6ffd1a8458b872e7b72532d72a20a2abb2bbb17367aad1d5f72b34290032",
+    "visual_seed": 4351473402720972350,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_48_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..add98389e8fb7c899181cf3193b3e1a1b3140bb7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_48_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+              1.0495607544441006
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+              0.011651394751148902,
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+              1.0
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+            "stable_success_frames": 203,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
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+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
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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/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+            },
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              1.2450401756055443
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+              -0.18149178734137467,
+              1.2420866819909575
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+            "held_shake_count": 5,
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+            "max_held_gripper_z_dist": 0.003255442893179916,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
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+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      }
+    },
+    {
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+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+            "release_required_pad_clearance": 0.05398496581995167,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
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+            "object_tilt_deg": 2.9671575287562444,
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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 184,
+            "max_placed_release_frames": 184
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "inspection_platform"
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+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
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+              "enabled": true
+            },
+            "status": "active",
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+            "forbidden": [],
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+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "108fe8118105e710d6b16aa8499315fcc57c2267d92c95eb895869c0b3434302",
+    "visual_seed": 1547651384124717193,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      7048677080094423649,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_52_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c1d02d5c9f3c3b9bfacf1ba0efc4f00890964f5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_52_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+              1.0488707149537029
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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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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+            },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "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_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_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",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
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+              "ignored": [],
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+      }
+    },
+    {
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+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.12481793800022585,
+            "release_required_pad_clearance": 0.05306901544220269,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
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+            "object_tilt_deg": 1.159583201197478,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 193,
+            "max_placed_release_frames": 193
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
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+  "reproducibility": {
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+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
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+      7048677080094423649,
+      1480185638166204106,
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+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "740810f07489d3dacab17ac4c538c92d644ffa6424fd8b70623cc41aa2124c0e",
+    "visual_seed": 7569553876012789671,
+    "episode_index": 52,
+    "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/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_54_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..902922500860258ed5062b1db31d336f9f165551
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_54_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+            "required_stable_lift_frames": 5
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+          "failure_messages": {},
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "finger",
+                "fr3",
+                "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": [
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+                "desk",
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+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
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+            },
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_a",
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+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "wheel",
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
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+    },
+    {
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+      "reason": "executed",
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+        "checker": {
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+            "release_required_pad_clearance": 0.05369383166282078,
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+            "force_virtual_attach": false,
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+            "max_z": 0.8774145980897915,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 190,
+            "max_placed_release_frames": 190
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "inspection_platform"
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+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
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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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
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+      7048677080094423649,
+      1480185638166204106,
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+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7eb972a4787b3a0351a8103e1b8bce8fab04acac434d6bbf2cfb32fc062806e7",
+    "visual_seed": 864629439404975459,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      7048677080094423649,
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+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_62_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0e72ba4f8807a5d2dedbec80506042938e6e46d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_62_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+              0.0,
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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_object_paths": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "elbow_joint",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+                {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "max_held_gripper_z_dist": 0.003342985011568711,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
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+    },
+    {
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+      "skill": "place",
+      "target": "inspection_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_fingertip_min_gap": 0.08643534536915555,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.12881231463900367,
+            "release_required_pad_clearance": 0.05321767268457778,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
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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": 188,
+            "max_placed_release_frames": 188
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
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+              "allowed": [],
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+              "failed_keys": []
+            },
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+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
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+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
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+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bb30c60fd34106bb660a56691faa398f2442bb20847c5faae05a596b2ea44bfa",
+    "visual_seed": 7477063196887994076,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      7048677080094423649,
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+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_64_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..448fa51567f58740efb2cbfb32659903c7590c3a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_64_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+              1.0
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+            "stable_success_frames": 205,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "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",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "virtual_attach_allowed": false,
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+            "max_held_gripper_z_dist": 0.0037389713650013423,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew": 0.023540246786730477,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
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+                  "b": "/World/beaker_2/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+    },
+    {
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+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "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": 0.052841086394450426,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
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+            "object_tilt_deg": 0.7143184940065986,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 190,
+            "max_placed_release_frames": 190
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "inspection_platform"
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+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
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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": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
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+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
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+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3441a39a8ba8e364e6a1656a743c777b3543f5d1728509b81bdd9705f52deddf",
+    "visual_seed": 4728482340144928590,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      7048677080094423649,
+      1480185638166204106,
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+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_65_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..91cc727ab19367edaa08d1551203756bc170581e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_65_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "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": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "dummy_base_prismatic_x_joint",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "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",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+                  "b": "/World/beaker_2/mesh"
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+              "failed_keys": []
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+        "post_done_wait_frames": 0,
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+    {
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+      "skill": "place",
+      "target": "inspection_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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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": 0.13162067454480944,
+            "release_required_pad_clearance": 0.053362350756653396,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "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": 197,
+            "max_placed_release_frames": 197
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/target_plat"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
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+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4b03f2d1da918c2267dfc53f21b6a98328d5317c632018da909ca5a5a757e674",
+    "visual_seed": 7220576410674814501,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_67_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f255a767607474703e6366c3ec1ed598914639ff
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_67_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+          "metrics": {
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+              1.0516461003568045
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+              0.011873508593205157,
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+              0.0,
+              1.0
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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_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                {
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+            },
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+          }
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+      },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.18393653058361994,
+              1.247381801449369
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+            "held_position": [
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+              -0.17992739242736253,
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+            "required_gripper_z": 0.8974145980897915,
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
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+            "max_held_gripper_dist": 0.0063351378034360376,
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+            "max_held_gripper_z_dist": 0.003668428178883687,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08593811405071639,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
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+              -0.17992739242736253,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02312672357355332,
+            "held_grasp_world_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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+              -0.9948687656085032,
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004018019272924205,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
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+                {
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+                  "b": "/World/beaker_2/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
+          }
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+        "post_done_wait_frames": 0,
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+    },
+    {
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+      "skill": "place",
+      "target": "inspection_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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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_fingertip_min_gap": 0.08535048133083527,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13163641742502327,
+            "release_required_pad_clearance": 0.052675240665417636,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3975682362708106,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 193,
+            "max_placed_release_frames": 193
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
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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": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "540a94e4719c5449afe81251b6f876ea16e9db0c70094ff5d6d362788de3b3ed",
+    "visual_seed": 3205239371027998167,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_70_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..44b32888761a88c1be01790f8a512e3c3c1aad26
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_70_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "target": "beaker_a",
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+          "metrics": {
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+              1.0516251611476202
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+            "lift_margin": 0.190518653132854,
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+              0.004215386795461046,
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+              1.0516251611476202
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+              0.011899738918610542,
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+              0.0,
+              1.0
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+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                },
+                {
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+            },
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+          }
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+      },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.18821099476506692,
+              1.2451058616592736
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+              -0.18395798933954408,
+              1.2417235316682258
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+            "required_gripper_z": 0.8974145980897915,
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006935760932108997,
+            "max_held_gripper_dist": 0.006948225564187507,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0033823299910478166,
+            "max_held_gripper_z_dist": 0.0037192809682411454,
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+            "held_object_xy_range": 0.08626615363765672,
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+            "held_grasp_geometry_required": true,
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+              1.2417235316682258
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+              -0.19592132132252338,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023448211731852152,
+            "held_grasp_world_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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+              -0.9969872556401447,
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00359006216732594,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
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+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_frames": 0,
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+      }
+    },
+    {
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+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "place",
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+          "passed": true,
+          "metrics": {
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+            "release_fingertip_min_gap": 0.08962791740727964,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1295383777845639,
+            "release_required_pad_clearance": 0.05481395870363982,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.677330434300939,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 193,
+            "max_placed_release_frames": 193
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/target_plat"
+              ],
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+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "71203988edc08536eb3bdbf6d5d1b9b5a2567661b968b24eea9c5880f204f1d2",
+    "visual_seed": 2693268720029481160,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_79_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2ec6693950bce96ea0660958acf204062292901
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_79_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              1.0504619797048986
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+            "lift_margin": 0.18935547169013267,
+            "gripper_z": 1.0545584223955295,
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+            "gripper_position": [
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+              0.004003152685011724,
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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": 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_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+          }
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 0.003698307271386314,
+            "max_held_gripper_z_dist": 0.004074968565791037,
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+            "held_grasp_geometry_required": true,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02340433119694645,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "shake",
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+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
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+        },
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
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+          "passed": true,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.12841994257664352,
+            "release_required_pad_clearance": 0.055246119159471085,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.8774145980897915,
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+            "object_tilt_deg": 5.592627089281503,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 187,
+            "max_placed_release_frames": 187
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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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": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ea4cdf31507094f402d511face7222455891afd5987678cde268fddb9d02c4a0",
+    "visual_seed": 8674296125204920864,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_7_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad7345daaa0428b19936d183657265c95c12f3e6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_7_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+              1.0517230400222783
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+            "lift_margin": 0.19061641279822272,
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+              -0.1952683947387513,
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+              0.0038908332853114513,
+              -0.003185822166310359
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+            "object_to_gripper_z": -0.003185822166310359,
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+              -0.19137756145343984,
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+              0.011656214769781764,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049783349162642,
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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": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
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+            },
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+      },
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              1.2480093350169246
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+            "held_shake_count": 5,
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+            "max_held_gripper_z_dist": 0.0031654114273509393,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08591051974644237,
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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_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_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_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
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+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
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+            "object_position": [
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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": 0.08632027644456962,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1304046687588742,
+            "release_required_pad_clearance": 0.05316013822228481,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3293659414477716,
+            "object_max_tilt_deg": 12.0,
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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": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6ab0dc3e069c2d15a64533281f3b8405a6abdec1677b2b4444a2d2e6b1f1f341",
+    "visual_seed": 3892921474720926538,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_81_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4859ac019cd4c609bdc6e2c43c02070f2e8f27bd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_81_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+              1.0524139886775292
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+              -0.19134076182064605,
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+              -0.21072610001149922,
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+              -0.1871840981608374,
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+              0.011771000925330927,
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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": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "forbidden": [],
+            "disturbances": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
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+            },
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.18223327452661245,
+              1.2437944620717984
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+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.006456340061578195,
+            "max_held_gripper_dist": 0.00646625185377198,
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+            "held_gripper_z_dist": 0.0028287618377282886,
+            "max_held_gripper_z_dist": 0.0031069597877251276,
+            "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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+              -0.18223327452661245,
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+            "held_grasp_finger_gap": 0.025171512704582802,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023217639233326353,
+            "held_grasp_world_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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+              -0.9943089881233373,
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035649468996522384,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_top_clearance": 0.037649938700378735,
+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
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+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+        },
+        "gripper": null,
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
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+            "object_position": [
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+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08836708769026487,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13175286617314982,
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d50687256b41336f0a4a1d23397060a3f4d04d53e14cc76276b04bfac9bcc8e8",
+    "visual_seed": 6182258483155051561,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_84_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c99234541101ae2cf0bce774238e15f3fe177833
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_84_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              1.0509163287185683
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+              0.0040803094862278955,
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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
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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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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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "max_held_gripper_z_dist": 0.0038417157652557155,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew": 0.023378829844799134,
+            "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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+            "held_grasp_object_projection_between_fingers": 0.5,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
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+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
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+              "ignored": [],
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_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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+            "min_z_margin": 0.2,
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+            "object_upright_reference_source": "scene_initial",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f5a0823fea78e78747bd66245adb2a6746797b06c64755842ac2f2120ef3a703",
+    "visual_seed": 8666387261444999960,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_88_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..116efb948514c4f8ed0fa1331524a14d52cc66cf
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_88_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+            "object_position": [
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+              1.0497070886146598
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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": 203,
+            "max_stable_success_frames": 203,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
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+            "disturbances": [],
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+            "gripper_position": [
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+            "held_shake_count": 5,
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+            "max_held_gripper_z_dist": 0.004477867363868793,
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+            "held_object_xy_range": 0.08592397553745074,
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+            "held_grasp_geometry_required": true,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023260415806608422,
+            "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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+            "held_grasp_object_to_finger_line_xy": 0.004121191143907736,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
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+                  "b": "/World/beaker_2/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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+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
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+            "target": "inspection_platform",
+            "object_position": [
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+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.611322632415305,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 242,
+            "max_placed_release_frames": 242
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "56f6d523491bda341aeb124cd5f50a59aaaeef31523176779628ae4f5ee2a705",
+    "visual_seed": 7489495450176325176,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_8_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..389198b065102ffec85ea7936e10839d3b1a1342
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_8_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2683188071234063,
+              -0.18641924599256654,
+              1.0493620553795122
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+            "current_z": 1.0493620553795122,
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+            "lift_margin": 0.18825560696939103,
+            "gripper_z": 1.0528860179828547,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.19040469063100623,
+              1.0528860179828547
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+              0.003985444638439695,
+              -0.003523962603342534
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+            "object_to_gripper_z": -0.003523962603342534,
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+              -0.20997961611407662,
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+              -0.18641924599256654,
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+              -0.19819943105332158,
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+              0.011780185060755038,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05159283161663121,
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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": 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_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              1.2423051125664766
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+            "held_position": [
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+              1.2391049541984254
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+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0064414738687002746,
+            "max_held_gripper_dist": 0.006456344778036727,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003200158368051209,
+            "max_held_gripper_z_dist": 0.0035072818781261006,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0860695155448318,
+            "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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+              -0.20383327019426342,
+              1.2391049541984254
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+              -0.19206355956537363,
+              1.2391049541984254
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+            "held_grasp_object_position": [
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+              -0.18029384893648384,
+              1.2391049541984254
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+            "held_grasp_finger_gap": 0.02487494375209185,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023155017400858305,
+            "held_grasp_world_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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+              -0.9960775144270112,
+              -0.08068620090048628
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037153450385366666,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "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": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "inspection_platform",
+            "object_position": [
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+            "release_min_pad_clearance": 0.18867853723098832,
+            "release_required_pad_clearance": 0.052503454413372605,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.07912936430202265,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 203,
+            "max_placed_release_frames": 203
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f4e6f1aabb5aa7047c0cb22cef350cb893701b2b1f56c701159fa678b1244969",
+    "visual_seed": 1551514665089261706,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_91_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..828e3e41701d1d783b9d9671e1d8e97880d710c8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_91_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "target": "beaker_a",
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+      "reason": "executed",
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+          "metrics": {
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+              1.050971329863342
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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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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                {
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+            },
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+          }
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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": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "held_shake_count": 5,
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+            "max_held_gripper_dist": 0.00667993387352754,
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+            "max_held_gripper_z_dist": 0.0036283203442084577,
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+            "held_object_xy_range": 0.08614368780138079,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
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+            "held_grasp_finger_gap": 0.025002231001256942,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023274809629318886,
+            "held_grasp_world_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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+              -0.0895383274983763
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003940953797084923,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/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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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
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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": 0.18143033902490613,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5071076927926434,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 244,
+            "max_placed_release_frames": 244
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "41baf4bfa0a0ecce992675760746de5bde1b1e9a6e959d7e4b34888f4a8c6e3f",
+    "visual_seed": 9098691773348490881,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_92_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a22e0da4ccf0fa151875a266f64611c265300257
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_92_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+              1.0515243603423
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+              0.00391653378546622,
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+            "stable_success_frames": 206,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
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+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "held_shake_count": 5,
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+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
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+                  "b": "/World/beaker_2/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
+          }
+        },
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+            "gripper_away_threshold": 0.04,
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+            "min_z": 0.5730800627579278,
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+            "require_object_upright": true,
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+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554255059959969,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08499800804679873,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1808912851602067,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.06851288936731337,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 245,
+            "max_placed_release_frames": 245
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "workflow_spec_digest": "11cf8c86305411bdb6069711a0c35dc2fd89a7052592253561bdd9f9e9cad59c",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "456cc2f3b309824984664d0dbf8ef338b8eef863482f5e187cbab4d710b23080",
+    "visual_seed": 8922964244776974103,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106,
+      3014162407012415582,
+      4167145195996473630
+    ],
+    "runtime_workflow_digest": "ad7a4183f84dfab79a14ac1a08d4bc62bd5b20db17747719b0c142f074cc61bc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_96_success.json b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0070ab40a8e3f4a9f38c5088c5432734776e5e8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_central_longmix_s06_pslpsl_nbo_00032/results/episode_96_success.json
@@ -0,0 +1,1335 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2710840150764471,
+              -0.19143742894542454,
+              1.0491386197472758
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+            "lift_margin": 0.18803217133715455,
+            "gripper_z": 1.0526283343724665,
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+            "virtual_attach_allowed": false,
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+              -0.19535503669666976,
+              1.0526283343724665
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+              0.003917607751245222,
+              -0.003489714625190654
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+            "object_to_gripper_z": -0.003489714625190654,
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+              -0.21484298159051762,
+              1.0491386197472758
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+              -0.19143742894542454,
+              1.0491386197472758
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+              0.011702776322546543,
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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": 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_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              1.2447197205707872
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+              1.241395401351097
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006518792245634436,
+            "max_held_gripper_dist": 0.006531858976003043,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0033243192196901195,
+            "max_held_gripper_z_dist": 0.003641598570985005,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08580966021894434,
+            "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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+              -0.20960765032118278,
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+              -0.19775799505027003,
+              1.241395401351097
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+              -0.18590833977935725,
+              1.241395401351097
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+            "held_grasp_finger_gap": 0.0250076714857552,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023431569051926008,
+            "held_grasp_world_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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+              -0.9983897473427236,
+              -0.048896132600209294
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036951568158022827,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
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+            "held_grasp_min_top_clearance": 0.014916075021028518
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
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+}
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+}
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diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b83f81510a4a9a76f2ad11087f944b772c721ac7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
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diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7d4d046f92cf3c5796ec69036e67fcd4b69144f4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/resolved_config.yaml
@@ -0,0 +1,232 @@
+name: fast_2beaker_dual_target_s03_psl_brq_00000
+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 at heater platform.
+  layout_id: layout_00000
+  reproducibility:
+    enabled: true
+    layout_id: layout_00000
+    action_seed: 7341943718102437219
+    step_seeds:
+    - 2500273653211418822
+    - 70012352371227459
+    - 3039154489468777781
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2192
+      - 0.2192
+      'y':
+      - 0.2477
+      - 0.2477
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.22
+      - 0.22
+      'y':
+      - 0.0864
+      - 0.0864
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3586
+      - 0.3586
+      'y':
+      - 0.2226
+      - 0.2226
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2031
+      - 0.2031
+      'y':
+      - -0.3789
+      - -0.3789
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  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
+  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/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c641fc1dc7d496460eac577c8642911cabf0d1c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_0_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24971893498235267,
+              0.09029660770747672,
+              1.0462962618751608
+            ],
+            "current_z": 1.0462962618751608,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.18970987367588477,
+            "gripper_z": 1.0508498296136115,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2443205028316044,
+              0.08535996540017948,
+              1.0508498296136115
+            ],
+            "object_minus_gripper": [
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+              0.004936642307297234,
+              -0.004553567738450726
+            ],
+            "object_to_gripper_xy": 0.007315292677427862,
+            "object_to_gripper_z": -0.004553567738450726,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24971893498235267,
+              0.06549946917794269,
+              1.0462962618751608
+            ],
+            "finger_b": [
+              0.23792726310691178,
+              0.09029660770747672,
+              1.0462962618751608
+            ],
+            "finger_midpoint": [
+              0.24382309904463223,
+              0.0778980384427097,
+              1.0462962618751608
+            ],
+            "object_minus_finger_midpoint": [
+              0.005895835937720445,
+              0.012398569264767012,
+              0.0
+            ],
+            "finger_gap": 0.027457997102319106,
+            "fingertip_max_gap": 0.09368973085059132,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013728998551159553,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0462962618751608,
+            "object_top_z": 1.0931276730898878,
+            "finger_top_clearance": 0.046831411214727,
+            "fingertip_min_top_clearance": 0.0140494233644181,
+            "object_projection_between_fingers": 0.815577858126213,
+            "object_to_finger_line_xy": 0.010648982149008312,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04934486542529566,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1297332975122547,
+            "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/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": [
+              0.24922467741885831,
+              0.08863248474612753,
+              1.2413380043139974
+            ],
+            "held_position": [
+              0.2548846962039899,
+              0.09313669609625479,
+              1.236654480338171
+            ],
+            "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": 0.008617373693115512,
+            "max_held_gripper_dist": 0.00862181208529918,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004683523975826498,
+            "max_held_gripper_z_dist": 0.004690383890947114,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08570297318293416,
+            "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": [
+              0.2548846962039899,
+              0.06746178966714812,
+              1.236654480338171
+            ],
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+              0.09313669609625479,
+              1.236654480338171
+            ],
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+              0.24995196001812728,
+              0.08029924288170145,
+              1.236654480338171
+            ],
+            "held_grasp_object_position": [
+              0.2548846962039899,
+              0.09313669609625479,
+              1.236654480338171
+            ],
+            "held_grasp_finger_gap": 0.027505060720904743,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025031128479038767,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05968608505082547,
+              -0.9978599132513198,
+              0.02670514514797006
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00417215839034408,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03209582930324603,
+            "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": [
+              0.2624932211126976,
+              -0.3789727773482632,
+              0.8470196084628128
+            ],
+            "target_position": [
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+              -0.3805669894305549,
+              0.8084375599031817
+            ],
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+            "xy_dist": 0.006416981904850219,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1850058447293089,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196084628128,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528834940018436,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08572818764688399,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15399256473878334,
+            "release_required_pad_clearance": 0.052864093823441996,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7702435944502176,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "35b8248648a758abed3a9e6546634266614c417ee703677edee63adfcbed44ce",
+    "visual_seed": 4752764430203686649,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_101_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6d5f06079a08b699ef533a9ca574c22cad1fffb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_101_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.08267136564807909,
+              1.0436528483493719
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+            "gripper_z": 1.0481089779406316,
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+              1.0481089779406316
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+              0.004681633467078325,
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+              0.0585542006382742,
+              1.0436528483493719
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+              1.0436528483493719
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+              0.07061278314317665,
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+              0.012058582504902438,
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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": 0.0490677120162169,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
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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"
+                }
+              ],
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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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+              0.08134170277756245,
+              1.2390107133492068
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+              0.08554867554130652,
+              1.234441089747954
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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": 0.007998271229364399,
+            "max_held_gripper_dist": 0.008002124147029058,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004569623601252681,
+            "max_held_gripper_z_dist": 0.004571458742529844,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08553551768393103,
+            "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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+              0.06018220953911269,
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+              0.0728654425402096,
+              1.234441089747954
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+            "held_grasp_object_position": [
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+              1.234441089747954
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+            "held_grasp_finger_gap": 0.027012604433012108,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024535117917601997,
+            "held_grasp_world_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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+              -0.9964933117747994,
+              0.02467652543286003
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003627847408172909,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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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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+    },
+    {
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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_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1519767543914765,
+            "release_required_pad_clearance": 0.05299585864114428,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.020276038865084,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 101,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ed757fc2ccbec3e4cba938648433352b233e12d0c74e8b14ca0576c8599206d1",
+    "visual_seed": 451909119347478965,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_102_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_102_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f641abb5a1b8b8ff04a4ed82374c63068710f7d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_102_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 102,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+              0.09313548805829264,
+              1.0463009905690175
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+              0.0883840820760883,
+              1.0506485421202914
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+              0.06861166277168206,
+              1.0463009905690175
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+              1.0463009905690175
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+              0.08087357541498735,
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+              0.012261912643305284,
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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": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "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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+              0.09223521909605889,
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+              0.09658768082546763,
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+            "held_shake_count": 5,
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+            "max_held_gripper_z_dist": 0.004455923126532868,
+            "held_gripper_z_max_dist": 0.15,
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+              0.09658768082546763,
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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": 0.0248085942117055,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042277179104471835,
+            "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": [],
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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": [],
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+            "failed_keys": []
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+        },
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "min_z_margin": 0.2,
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+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514420504643293,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08516714887130487,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1539975055292927,
+            "release_required_pad_clearance": 0.05258357443565244,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.23069832834088588,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 102,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "31cd85c1d06eec0e91bed7883ffc282883005e78a77097166bdb0e79f4386557",
+    "visual_seed": 7333070219878705663,
+    "episode_index": 102,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_103_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ca29974948291444320feb5e4df122db2d6173d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_103_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.08721785437410813,
+              1.043362139390499
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+            "gripper_z": 1.0476928634800786,
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+              0.08250412312493777,
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+              0.004713731249170364,
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+            "object_to_gripper_z": -0.004330724089579574,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.06286709439002888,
+              1.043362139390499
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+              0.08721785437410813,
+              1.043362139390499
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+            "finger_midpoint": [
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+              0.07504247438206851,
+              1.043362139390499
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+            "object_minus_finger_midpoint": [
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+              0.012175379992039617,
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "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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+                  "b": "/World/target_beaker/mesh"
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+              ],
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+          }
+        },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.0861671984823745,
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+              0.09046408945820825,
+              1.2349481356086172
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008047093419019932,
+            "max_held_gripper_dist": 0.008048826466140921,
+            "held_gripper_max_dist": 0.15,
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+            "max_held_gripper_z_dist": 0.004442788611470183,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08630970701688334,
+            "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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+              0.06510449850199138,
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+              0.07778429398009981,
+              1.2349481356086172
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+            "held_grasp_object_position": [
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+              0.09046408945820825,
+              1.2349481356086172
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+            "held_grasp_finger_gap": 0.02710006329051243,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024605194823878934,
+            "held_grasp_world_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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+              -0.997225838538361,
+              0.02039204307082299
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038665861682286814,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "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,
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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": [
+              0.2664436574891711,
+              -0.37970335058730775,
+              0.8470192209619704
+            ],
+            "target_position": [
+              0.2600611782107531,
+              -0.38181644775606083,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006723185359933751,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18552563864264973,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192209619704,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755952899687298,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08504951128811254,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15375616023031596,
+            "release_required_pad_clearance": 0.05252475564405627,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.11869205069541283,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 103,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4e4d2840d0d9f607693989cb0cf088814abd8559b71f6390cf5364b9639a1ea3",
+    "visual_seed": 5633036995234589662,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_105_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_105_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dba719061efa192c5735bc35b6a50d2f27433cad
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_105_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 105,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24072188880295084,
+              0.09011721564873172,
+              1.0451010170484738
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+            "current_z": 1.0451010170484738,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.18851462884919779,
+            "gripper_z": 1.0493159201081563,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23586742002310015,
+              0.08533044113448625,
+              1.0493159201081563
+            ],
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+              0.004854468779850685,
+              0.004786774514245473,
+              -0.004214903059682529
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+            "object_to_gripper_xy": 0.006817556555304472,
+            "object_to_gripper_z": -0.004214903059682529,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24072188880295084,
+              0.06591580359823004,
+              1.0451010170484738
+            ],
+            "finger_b": [
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+              0.09011721564873172,
+              1.0451010170484738
+            ],
+            "finger_midpoint": [
+              0.23480507697921532,
+              0.07801650962348089,
+              1.0451010170484738
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012100706025250832,
+              0.0
+            ],
+            "finger_gap": 0.02693961755237356,
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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": 0.010630826565604844,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04897977785186583,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.981756678086842,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "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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+      },
+      "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": [
+              0.24065505238442136,
+              0.0891043994033388,
+              1.2415629257001997
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+            "held_position": [
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+              0.09340487445586594,
+              1.2372373564197832
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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": 0.00801380692789979,
+            "max_held_gripper_dist": 0.008017518288481204,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004325569280416497,
+            "max_held_gripper_z_dist": 0.0043284603706506,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08633646484518123,
+            "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": [
+              0.24585278902651506,
+              0.06801514659253767,
+              1.2372373564197832
+            ],
+            "held_grasp_finger_b": [
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+              0.09340487445586594,
+              1.2372373564197832
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+            "held_grasp_midpoint": [
+              0.24107909937451436,
+              0.0807100105242018,
+              1.2372373564197832
+            ],
+            "held_grasp_object_position": [
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+              0.09340487445586594,
+              1.2372373564197832
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+            "held_grasp_finger_gap": 0.027125462808002782,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024546173947303983,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07915030659109326,
+              -0.9965389185168053,
+              0.02540497683313614
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003768151592372136,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03217145999310561,
+            "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": [
+              0.2611864847561256,
+              -0.3798120798522486,
+              0.8470192541326247
+            ],
+            "target_position": [
+              0.25555785888382093,
+              -0.3810831405528764,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005770357399248163,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1857656710988409,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192541326247,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518952045329022,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08567096779932563,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15498772907639297,
+            "release_required_pad_clearance": 0.05283548389966282,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7121625336881093,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 105,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "252e12cfe1eca50e8c0cc6b54a0a0b281ad4f52e24c43ee9456ec500f813b488",
+    "visual_seed": 7908735214305425479,
+    "episode_index": 105,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_106_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_106_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7deba02ea70a9955f52fff79d8186e6f39598b4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_106_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 106,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.24550327938866237,
+              0.08916504198831768,
+              1.0459513933033002
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+            "gripper_z": 1.0504391295774314,
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+            "gripper_position": [
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+              0.08424179467088456,
+              1.0504391295774314
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+              0.004923247317433113,
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+            "object_to_gripper_z": -0.004487736274131127,
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+              0.06491374155290819,
+              1.0459513933033002
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+            "finger_b": [
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+              0.08916504198831768,
+              1.0459513933033002
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+            "finger_midpoint": [
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+              0.07703939177061293,
+              1.0459513933033002
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+              0.012125650217704745,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_tilt_deg": 0.9275188989757921,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "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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+              0.08776506486032934,
+              1.2443125705780675
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+            "held_position": [
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+              0.09214109251270015,
+              1.2397195425897458
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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": 0.008346745410562535,
+            "max_held_gripper_dist": 0.008352480816272842,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0045930279883217295,
+            "max_held_gripper_z_dist": 0.004597468680340722,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0866998629925361,
+            "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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+              0.06667889464872978,
+              1.2397195425897458
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+              0.09214109251270015,
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+            "held_grasp_midpoint": [
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+              0.07940999358071496,
+              1.2397195425897458
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+            "held_grasp_object_position": [
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+              0.09214109251270015,
+              1.2397195425897458
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+            "held_grasp_finger_gap": 0.027274591723261833,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02457753658266759,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08118583409035128,
+              -0.9964280983353244,
+              0.02323586002073419
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038502631775839914,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03211774386011081,
+            "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": [
+              0.26162071953934063,
+              -0.3814290883675945,
+              0.8470194110386595
+            ],
+            "target_position": [
+              0.2554234014587732,
+              -0.383290524575117,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006470834269737089,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18581742911844212,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194110386595,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524340001036202,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08604032643344885,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1549316920784918,
+            "release_required_pad_clearance": 0.053020163216724425,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0711766945367578,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 106,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bf76251dd7ce101155160f20f053a1d1585f9b5dd2676e21aabafaf2d85b3ddc",
+    "visual_seed": 393280739910199549,
+    "episode_index": 106,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_107_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_107_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ca97eb65073bd9c18065a4126ab7244d095eb32
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_107_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 107,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+              0.09308300401038784,
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+              0.24385681705839005,
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+              0.0687922134863322,
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+              0.08093760874836002,
+              1.045908211717421
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
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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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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_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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+                },
+                {
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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
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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",
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.09169332943749618,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.00827233376826861,
+            "max_held_gripper_dist": 0.008276457837034687,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004654411601503483,
+            "max_held_gripper_z_dist": 0.004658106998169487,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08539861328574257,
+            "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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+            "held_grasp_object_position": [
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+            "held_grasp_finger_gap": 0.02720290920985668,
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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,
+            "held_grasp_object_to_finger_line_xy": 0.0037358642326750916,
+            "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": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": [
+              0.25919050533207294,
+              -0.37988232798985844,
+              0.8470195993942871
+            ],
+            "target_position": [
+              0.2526163154965651,
+              -0.3818102523526657,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006851048411885609,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18543894724113075,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195993942871,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523455620755255,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08632791483744363,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15450447183700083,
+            "release_required_pad_clearance": 0.05316395741872182,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.352171001962691,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 107,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bed8690eb5d9c53d25a092b9098292ca821ccb4c3049927b659422fb66889069",
+    "visual_seed": 3442129324291744842,
+    "episode_index": 107,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_108_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_108_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..572b864ac82a05dcf15ad0632bcfd5b9ac6907a6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_108_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 108,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.08683814117482348,
+              1.0434368816382318
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+              0.08201105372828162,
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+              0.004827087446541867,
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+            "object_to_gripper_z": -0.004369320757363182,
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+              0.062102720527987446,
+              1.0434368816382318
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+              0.07447043085140546,
+              1.0434368816382318
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+              0.012367710323418019,
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+            "fingertip_z_max_dist": 0.1,
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+              1.0
+            ],
+            "stable_success_frames": 211,
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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": [],
+            "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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+      "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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+              0.08552552009946683,
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+              0.0899502563100715,
+              1.2331278918222588
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008359583377268246,
+            "max_held_gripper_dist": 0.008362054534137959,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00449448885692072,
+            "max_held_gripper_z_dist": 0.004498325783595103,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08544340899243522,
+            "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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+              0.0643464754422171,
+              1.2331278918222588
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+              0.0899502563100715,
+              1.2331278918222588
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+              0.24271099498852633,
+              0.07714836587614429,
+              1.2331278918222588
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+            "held_grasp_object_position": [
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+              0.0899502563100715,
+              1.2331278918222588
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+            "held_grasp_finger_gap": 0.027378166615834268,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02504368822575118,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05333327347980812,
+              -0.9983213911717957,
+              0.022582335325172957
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004168521980479834,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03216126694343215,
+            "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": [
+              0.2606086743139596,
+              -0.3764114658199216,
+              0.8470197491936372
+            ],
+            "target_position": [
+              0.2548092134339989,
+              -0.3778938535274204,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005985918460314845,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18342240020763437,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197491936372,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521773433754853,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08572385807277354,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15261459790308404,
+            "release_required_pad_clearance": 0.05286192903638677,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7651456113352465,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 108,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0f948a4d09d238dc5edc2c255b04081b22fe1bb5626a5a6d890bd17772dca31d",
+    "visual_seed": 7423454788216513927,
+    "episode_index": 108,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_109_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_109_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5382e14bfd199f5134f5fa71ef64d641d0d3ae1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_109_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 109,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.24257854112567878,
+              0.09404759868993572,
+              1.0462712534516032
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+            "gripper_z": 1.0504445170616319,
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+            "gripper_position": [
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+              0.08927593060255724,
+              1.0504445170616319
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+              0.005113714576346379,
+              0.004771668087378472,
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+            "object_to_gripper_z": -0.004173263610028677,
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+              0.24257854112567878,
+              0.06940381101715987,
+              1.0462712534516032
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+            "finger_b": [
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+              0.09404759868993572,
+              1.0462712534516032
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+              0.23683700099149213,
+              0.0817257048535478,
+              1.0462712534516032
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+              0.005741540134186651,
+              0.012321893836387918,
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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": 0.04909644117259969,
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_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
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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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+              0.09319159764110187,
+              1.2409486360580577
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+            "held_position": [
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+              0.09760571016189716,
+              1.2366577673455503
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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": 0.008144861647064051,
+            "max_held_gripper_dist": 0.008146742137730482,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00429086871250739,
+            "max_held_gripper_z_dist": 0.004294874427791084,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0866302938846416,
+            "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": [
+              0.24739367183186584,
+              0.07215293176575749,
+              1.2366577673455503
+            ],
+            "held_grasp_finger_b": [
+              0.2376362443282009,
+              0.09760571016189716,
+              1.2366577673455503
+            ],
+            "held_grasp_midpoint": [
+              0.24251495808003337,
+              0.08487932096382733,
+              1.2366577673455503
+            ],
+            "held_grasp_object_position": [
+              0.24739367183186584,
+              0.09760571016189716,
+              1.2366577673455503
+            ],
+            "held_grasp_finger_gap": 0.02725896769087691,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024896850436725338,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05272965080649391,
+              -0.9983725857455827,
+              0.021720127934802155
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004210136664192477,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03223729400241017,
+            "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": [
+              0.25970355014754676,
+              -0.37422145170886567,
+              0.84701955034891
+            ],
+            "target_position": [
+              0.2529130927796719,
+              -0.3763974784622282,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0071305963072014955,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18604314243761044,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.84701955034891,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523648921752138,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496540613249935,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15518614723407695,
+            "release_required_pad_clearance": 0.05248270306624968,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.039564644115177766,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 109,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bb9048573dc4692eae35533c0d10ab6aa34b72756df729a108b222b043f31b87",
+    "visual_seed": 3583591888038290221,
+    "episode_index": 109,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_10_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..22963be40c9736c5a910b7e6da4fb00e5acdd848
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_10_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.24221442607361962,
+              0.08772179914067146,
+              1.0470585725065946
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+            "gripper_z": 1.0514472851392989,
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+            "gripper_position": [
+              0.2369187943955676,
+              0.08282887742889877,
+              1.0514472851392989
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+              0.005295631678052026,
+              0.004892921711772691,
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+            "object_to_gripper_z": -0.004388712632704239,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24221442607361962,
+              0.0630108667516651,
+              1.0470585725065946
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+            "finger_b": [
+              0.230471611510278,
+              0.08772179914067146,
+              1.0470585725065946
+            ],
+            "finger_midpoint": [
+              0.2363430187919488,
+              0.07536633294616829,
+              1.0470585725065946
+            ],
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+              0.005871407281670821,
+              0.012355466194503173,
+              0.0
+            ],
+            "finger_gap": 0.02735916434036448,
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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": 1.093580482593263,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04920119939031266,
+            "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": 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": [
+                {
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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": [
+              0.24183739621281705,
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+              1.242737426869362
+            ],
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+              0.24740196537036277,
+              0.0907577057141001,
+              1.238223130671327
+            ],
+            "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": 0.008438467321239863,
+            "max_held_gripper_dist": 0.008442485798121473,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004514296198035117,
+            "max_held_gripper_z_dist": 0.004517998360400455,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0855214847285079,
+            "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": [
+              0.24740196537036277,
+              0.0651240284694733,
+              1.238223130671327
+            ],
+            "held_grasp_finger_b": [
+              0.2376269401107285,
+              0.0907577057141001,
+              1.238223130671327
+            ],
+            "held_grasp_midpoint": [
+              0.24251445274054562,
+              0.0779408670917867,
+              1.238223130671327
+            ],
+            "held_grasp_object_position": [
+              0.24740196537036277,
+              0.0907577057141001,
+              1.238223130671327
+            ],
+            "held_grasp_finger_gap": 0.02743422183894026,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0250306113379732,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.056762461023096684,
+              -0.9981192157530211,
+              0.02315284352246849
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00416293711070079,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0321300648065244,
+            "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": [
+              0.25834442301825655,
+              -0.3748468648799167,
+              0.8470194676326364
+            ],
+            "target_position": [
+              0.2531940253635724,
+              -0.37591247170810826,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005259478483049881,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1865914644258113,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194676326364,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520584868884109,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08539275901065267,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15559857636112026,
+            "release_required_pad_clearance": 0.05269637950532634,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4476235446286127,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b1cb47596a1bb75aaa9be72c5e0dbe8d07a99618fc665ebf4f384d342c0a6176",
+    "visual_seed": 3371340173457237782,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_110_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_110_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e35fbd155d5c4fbe801cead7fd4c2d46bd13d565
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_110_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 110,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24017065311966201,
+              0.09302287807695583,
+              1.0457545946483695
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+            "current_z": 1.0457545946483695,
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+            "lift_margin": 0.18916802763515916,
+            "gripper_z": 1.0498212432281104,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23520341148835966,
+              0.08813446311639929,
+              1.0498212432281104
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+              0.004967241631302355,
+              0.004888414960556545,
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+            "object_to_gripper_xy": 0.006969224508532949,
+            "object_to_gripper_z": -0.004066648579740928,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24017065311966201,
+              0.06879973682295124,
+              1.0457545946483695
+            ],
+            "finger_b": [
+              0.22811487858840324,
+              0.09302287807695583,
+              1.0457545946483695
+            ],
+            "finger_midpoint": [
+              0.23414276585403263,
+              0.08091130744995353,
+              1.0457545946483695
+            ],
+            "object_minus_finger_midpoint": [
+              0.006027887265629389,
+              0.0121115706270023,
+              0.0
+            ],
+            "finger_gap": 0.027057388487435503,
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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": 1.0457545946483695,
+            "object_top_z": 1.0910152089532144,
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+            "fingertip_min_top_clearance": 0.01357818429145342,
+            "object_projection_between_fingers": 0.8014735028766682,
+            "object_to_finger_line_xy": 0.010792938480841207,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04769595662961229,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.33687868325408826,
+            "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/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": "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": [
+              0.2400418475176248,
+              0.09169294571426458,
+              1.2438300342461552
+            ],
+            "held_position": [
+              0.2454002596926399,
+              0.09603889758813568,
+              1.2396565629979055
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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": 0.00806335792256061,
+            "max_held_gripper_dist": 0.0080739834361296,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004173471248249738,
+            "max_held_gripper_z_dist": 0.004176132500531393,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08666734105986709,
+            "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": [
+              0.2454002596926399,
+              0.07059377710734893,
+              1.2396565629979055
+            ],
+            "held_grasp_finger_b": [
+              0.23571626950825714,
+              0.09603889758813568,
+              1.2396565629979055
+            ],
+            "held_grasp_midpoint": [
+              0.24055826460044852,
+              0.0833163373477423,
+              1.2396565629979055
+            ],
+            "held_grasp_object_position": [
+              0.2454002596926399,
+              0.09603889758813568,
+              1.2396565629979055
+            ],
+            "held_grasp_finger_gap": 0.027225609674954476,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024494290640888743,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0878172092277745,
+              -0.9960539055890042,
+              0.012835689476472512
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003709745574781048,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03210265865318475,
+            "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": [
+              0.2627523663526677,
+              -0.3770125298078231,
+              0.8470195192340457
+            ],
+            "target_position": [
+              0.2570898403820063,
+              -0.3785984333266429,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00588041583048511,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1853790695506959,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195192340457,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587272825769173,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08565007905870921,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15284858018782044,
+            "release_required_pad_clearance": 0.052825039529354606,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6943582273746141,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 110,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fc3280b877d66de8abd3a46a2ca9770706ce89fe773d72d5ada111489baf9d3a",
+    "visual_seed": 3293865020564319465,
+    "episode_index": 110,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_11_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9401b7c14a50ce2119f0c87ba504ff0d2c28bb2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_11_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 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": [
+              0.24365741410719507,
+              0.0897071495177604,
+              1.0464182578782777
+            ],
+            "current_z": 1.0464182578782777,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1898318100743569,
+            "gripper_z": 1.05085636803855,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23888188569586188,
+              0.08502281109679284,
+              1.05085636803855
+            ],
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+              0.004775528411333191,
+              0.004684338420967563,
+              -0.004438110160272402
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+            "object_to_gripper_xy": 0.006689446767080473,
+            "object_to_gripper_z": -0.004438110160272402,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24365741410719507,
+              0.06547046635208159,
+              1.0464182578782777
+            ],
+            "finger_b": [
+              0.23208011999526637,
+              0.0897071495177604,
+              1.0464182578782777
+            ],
+            "finger_midpoint": [
+              0.23786876705123072,
+              0.077588807934921,
+              1.0464182578782777
+            ],
+            "object_minus_finger_midpoint": [
+              0.005788647055964352,
+              0.012118341582839406,
+              0.0
+            ],
+            "finger_gap": 0.026859831530141768,
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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": 1.0464182578782777,
+            "object_top_z": 1.0933369861410693,
+            "finger_top_clearance": 0.04691872826279164,
+            "fingertip_min_top_clearance": 0.014075618478837492,
+            "object_projection_between_fingers": 0.8142163187953373,
+            "object_to_finger_line_xy": 0.01044664814787892,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04934948562430441,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1769913757446604,
+            "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"
+              ],
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+                "base_link",
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
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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": [
+              0.24372695619867102,
+              0.08867804737793854,
+              1.2443186648849733
+            ],
+            "held_position": [
+              0.24882621749048686,
+              0.0929011599939265,
+              1.2397766335787832
+            ],
+            "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": 0.008029146547170456,
+            "max_held_gripper_dist": 0.008031930140123239,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004542031306190131,
+            "max_held_gripper_z_dist": 0.004545996032490507,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08577370725441677,
+            "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": [
+              0.24882621749048686,
+              0.06758918090595388,
+              1.2397766335787832
+            ],
+            "held_grasp_finger_b": [
+              0.23937911353733726,
+              0.0929011599939265,
+              1.2397766335787832
+            ],
+            "held_grasp_midpoint": [
+              0.24410266551391208,
+              0.08024517044994019,
+              1.2397766335787832
+            ],
+            "held_grasp_object_position": [
+              0.24882621749048686,
+              0.0929011599939265,
+              1.2397766335787832
+            ],
+            "held_grasp_finger_gap": 0.027017476907579243,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02453568663362503,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07364263102547407,
+              -0.9968164139443059,
+              0.030558137817286217
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003798988105734008,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032236672058317165,
+            "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": [
+              0.26066777983220357,
+              -0.3817942596384191,
+              0.8470190519053702
+            ],
+            "target_position": [
+              0.25519981867706404,
+              -0.38312648100545876,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005627913731118472,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18533149195813758,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470190519053702,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569047238609762,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08531632358583756,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15318471968606534,
+            "release_required_pad_clearance": 0.05265816179291878,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.37114280773746255,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6e453c9393b7bafa2679210aaff9e7876454ae9b6e6c95e165a96a7c7d061db7",
+    "visual_seed": 6941366109893634477,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_12_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ed9d6da7abebe13a6927af431c302c2950f8f1d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_12_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.24415317096753797,
+              0.08422421345506687,
+              1.045714546624169
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+            "current_z": 1.045714546624169,
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+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1891280392156035,
+            "gripper_z": 1.0501355955727247,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.2393798232422425,
+              0.07953231469542955,
+              1.0501355955727247
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+              0.004773347725295474,
+              0.004691898759637311,
+              -0.0044210489485556614
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+            "object_to_gripper_xy": 0.006693187766473432,
+            "object_to_gripper_z": -0.0044210489485556614,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24415317096753797,
+              0.060021590467517635,
+              1.045714546624169
+            ],
+            "finger_b": [
+              0.23252909135085537,
+              0.08422421345506687,
+              1.045714546624169
+            ],
+            "finger_midpoint": [
+              0.23834113115919667,
+              0.07212290196129226,
+              1.045714546624169
+            ],
+            "object_minus_finger_midpoint": [
+              0.005812039808341302,
+              0.012101311493774608,
+              0.0
+            ],
+            "finger_gap": 0.026849323760803033,
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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": 1.045714546624169,
+            "object_top_z": 1.0925232202443356,
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+            "fingertip_min_top_clearance": 0.014042602086049983,
+            "object_projection_between_fingers": 0.8125651046146227,
+            "object_to_finger_line_xy": 0.010478223550290641,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04921924113698245,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1317057145861917,
+            "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/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": [
+              0.2441366588480256,
+              0.0833549519310675,
+              1.24290647707037
+            ],
+            "held_position": [
+              0.24923462921812573,
+              0.08759116690388924,
+              1.2383871331077627
+            ],
+            "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": 0.008022424137549215,
+            "max_held_gripper_dist": 0.008026645301306099,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004519343962607225,
+            "max_held_gripper_z_dist": 0.004522502240360549,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08637740869809318,
+            "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": [
+              0.24923462921812573,
+              0.06230007791983126,
+              1.2383871331077627
+            ],
+            "held_grasp_finger_b": [
+              0.2397185703192059,
+              0.08759116690388924,
+              1.2383871331077627
+            ],
+            "held_grasp_midpoint": [
+              0.24447659976866581,
+              0.07494562241186026,
+              1.2383871331077627
+            ],
+            "held_grasp_object_position": [
+              0.24923462921812573,
+              0.08759116690388924,
+              1.2383871331077627
+            ],
+            "held_grasp_finger_gap": 0.027022112407568175,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024513633092134713,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07340890967141932,
+              -0.9968806252734201,
+              0.028985357257214073
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003834940337592237,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03224484491160471,
+            "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": [
+              0.2591770936884077,
+              -0.37353357614118954,
+              0.8470195526881467
+            ],
+            "target_position": [
+              0.2534531454443119,
+              -0.37523243713464577,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005970737992591388,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18548897576355672,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195526881467,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570338133988247,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08546259035919897,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15359560809434317,
+            "release_required_pad_clearance": 0.052731295179599486,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5143412020299966,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "87d40ceccee98a20fac9d91792dffd74e83e0ba668c8bb7b28201d13ba7816a2",
+    "visual_seed": 7929939550645730957,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_13_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4dc08fdccd581908f636c0f739dab2388eb6fe1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_13_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24114319224705458,
+              0.08968288291372553,
+              1.0450330652071451
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+            "current_z": 1.0450330652071451,
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+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.1884466770078691,
+            "gripper_z": 1.049321754918756,
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+            "gripper_position": [
+              0.23627054537753409,
+              0.08496040362420142,
+              1.049321754918756
+            ],
+            "object_minus_gripper": [
+              0.004872646869520492,
+              0.004722479289524115,
+              -0.0042886897116107825
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+            "object_to_gripper_xy": 0.006785609637684151,
+            "object_to_gripper_z": -0.0042886897116107825,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24114319224705458,
+              0.06537038064379583,
+              1.0450330652071451
+            ],
+            "finger_b": [
+              0.2295186921545162,
+              0.08968288291372553,
+              1.0450330652071451
+            ],
+            "finger_midpoint": [
+              0.23533094220078538,
+              0.07752663177876068,
+              1.0450330652071451
+            ],
+            "object_minus_finger_midpoint": [
+              0.005812250046269202,
+              0.012156251134964852,
+              0.0
+            ],
+            "finger_gap": 0.02694859493604002,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0450330652071451,
+            "object_top_z": 1.0914016629200485,
+            "finger_top_clearance": 0.04636859771290336,
+            "fingertip_min_top_clearance": 0.013910579313870991,
+            "object_projection_between_fingers": 0.8139300172279311,
+            "object_to_finger_line_xy": 0.010487399642074523,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048695245003522306,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
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+            "required_stable_lift_frames": 5
+          },
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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",
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+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
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+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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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+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
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+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24103817270069394,
+              0.08858962665532781,
+              1.242274416137578
+            ],
+            "held_position": [
+              0.24622513076429342,
+              0.09285908562322777,
+              1.237878030597426
+            ],
+            "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": 0.008028762024732046,
+            "max_held_gripper_dist": 0.008032388135438943,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004396385540152092,
+            "max_held_gripper_z_dist": 0.004398944978180497,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08668050468589229,
+            "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": [
+              0.24622513076429342,
+              0.06748686278661377,
+              1.237878030597426
+            ],
+            "held_grasp_finger_b": [
+              0.23670677123137965,
+              0.09285908562322777,
+              1.237878030597426
+            ],
+            "held_grasp_midpoint": [
+              0.24146595099783652,
+              0.08017297420492077,
+              1.237878030597426
+            ],
+            "held_grasp_object_position": [
+              0.24622513076429342,
+              0.09285908562322777,
+              1.237878030597426
+            ],
+            "held_grasp_finger_gap": 0.0270988719298167,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024565193868868834,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07628668292888793,
+              -0.9968112808808433,
+              0.023401117845097907
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037895108718520856,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03219150395568581,
+            "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": [
+              0.26417705640556116,
+              -0.37460930769144707,
+              0.8470196014188704
+            ],
+            "target_position": [
+              0.2577576835752274,
+              -0.37655127046426384,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0067066807696381184,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1862888497054062,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196014188704,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518152558237433,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08631628833530404,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1554747819319198,
+            "release_required_pad_clearance": 0.05315814416765202,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3399599280619678,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cd4acf13871b222117fd325d7126f0f38d74e1cb7672938afe304736a7fce44b",
+    "visual_seed": 1181898553516847951,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_14_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cfea5278901410795c919b666b24f2f7e21fa13
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_14_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2441554263340363,
+              0.0886365681583636,
+              1.0436557677445941
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+            "current_z": 1.0436557677445941,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18706926033602855,
+            "gripper_z": 1.0481620014923705,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23898131368408884,
+              0.08380373372569411,
+              1.0481620014923705
+            ],
+            "object_minus_gripper": [
+              0.0051741126499474654,
+              0.004832834432669492,
+              -0.004506233747776367
+            ],
+            "object_to_gripper_xy": 0.00708009395191492,
+            "object_to_gripper_z": -0.004506233747776367,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2441554263340363,
+              0.06401759200031827,
+              1.0436557677445941
+            ],
+            "finger_b": [
+              0.23249626047001593,
+              0.0886365681583636,
+              1.0436557677445941
+            ],
+            "finger_midpoint": [
+              0.23832584340202612,
+              0.07632708007934094,
+              1.0436557677445941
+            ],
+            "object_minus_finger_midpoint": [
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+                "elbow_joint",
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+                "finger",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "geometry",
+                "gripper",
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+                "joint3",
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+                "left_inner_finger",
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+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
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+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+            },
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": 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": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24355829106189314,
+              0.0876676453618438,
+              1.2378342108996676
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+            "held_position": [
+              0.24896401281817854,
+              0.09211309246164584,
+              1.233209560447425
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0083887555351759,
+            "max_held_gripper_dist": 0.00839247897237426,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004624650452242696,
+            "max_held_gripper_z_dist": 0.004628078144434111,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08670713431739226,
+            "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": [
+              0.24896401281817854,
+              0.06662079737721231,
+              1.233209560447425
+            ],
+            "held_grasp_finger_b": [
+              0.23913168053030187,
+              0.09211309246164584,
+              1.233209560447425
+            ],
+            "held_grasp_midpoint": [
+              0.2440478466742402,
+              0.07936694491942908,
+              1.233209560447425
+            ],
+            "held_grasp_object_position": [
+              0.24896401281817854,
+              0.09211309246164584,
+              1.233209560447425
+            ],
+            "held_grasp_finger_gap": 0.027322735347893992,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02491428096459912,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.054164466622103426,
+              -0.9982170657581146,
+              0.025077882382747878
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004230906437251011,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032210521449487085,
+            "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": [
+              0.26575733691917697,
+              -0.3776453874889245,
+              0.8470195859205607
+            ],
+            "target_position": [
+              0.26078765864834685,
+              -0.37892058149692837,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005130674602195107,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18518564914356692,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195859205607,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547292426768719,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08574090558932583,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15346889013665144,
+            "release_required_pad_clearance": 0.05287045279466292,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7823424235087442,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "28b1293ac9dde330a1cd0c29e8c5f0ad996553b05abe93aca34c99fee20855b0",
+    "visual_seed": 2824607776571647504,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_15_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b5e736b5e91593cdfbf94be72fa14e1cc6f77bd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_15_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24970312374240677,
+              0.08666615785932442,
+              1.0436269861255278
+            ],
+            "current_z": 1.0436269861255278,
+            "required_z": 0.8565865670132103,
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+                "right_inner_finger",
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+                "robotiq_2f85",
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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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+      "reason": "executed",
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.25488826214139715,
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+              1.2347910836156129
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+              0.0895856887841428,
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+              0.0895856887841428,
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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": [
+              -0.08036474516264086,
+              -0.9965159768523358,
+              0.022302816256674185
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03216384977074592,
+            "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": [
+              0.2574273686626707,
+              -0.38060292389824757,
+              0.8470192245966341
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+            "target_position": [
+              0.2519627918921154,
+              -0.381934117025452,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005624382137018138,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18598683700192445,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192245966341,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551719310047413,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08527989483316085,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1541515807520808,
+            "release_required_pad_clearance": 0.05263994741658043,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.335707102451697,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9044830aecc0b84e072c902447f9245763b395b6be0e6f8b685f936d2e014a24",
+    "visual_seed": 6897083783364899383,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_16_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..970abd4e40202d796ea1c5f9bed2da45d8f479e5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_16_success.json
@@ -0,0 +1,686 @@
+{
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+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4aad3101942f2cc68af9766a5d3b1abd0d96f414f0370ce2d9784ce0f55e31b9",
+    "visual_seed": 7699821739798855317,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_17_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..04a3f383ae43bcc5df0c3341a1d9e1920c1fad78
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_17_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              1.046851408193824
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+            "gripper_z": 1.0511442429532099,
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+            "gripper_position": [
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+              0.08134328889761312,
+              1.0511442429532099
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+              0.004796590907293327,
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+            "object_to_gripper_z": -0.0042928347593858,
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+              0.0613836992354887,
+              1.046851408193824
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+              1.046851408193824
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+              0.07376178952019757,
+              1.046851408193824
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
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+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
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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"
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+              ],
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+              "failed_keys": []
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+          }
+        },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.08487235683397791,
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+              0.08929825982137213,
+              1.238388531202627
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.008291142394043997,
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+            "held_gripper_z_dist": 0.004406586388708833,
+            "max_held_gripper_z_dist": 0.00441195917790016,
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+            "held_object_xy_range": 0.086575906269415,
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+              0.07653381272294983,
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+            "held_grasp_finger_gap": 0.027339988957386097,
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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": 0.0043328465900277,
+            "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,
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
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+            "failed_keys": []
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+        },
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+        "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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+          "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": 0.15310310339139396,
+            "release_required_pad_clearance": 0.05333828708000968,
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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": 1.6929954262888,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4bc3fd7e8a829fd0eaafa45beb7d02f680ff6ea84b6ffaffd486bd6469f03e8d",
+    "visual_seed": 6320647926449255931,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_18_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbda9265bedb131f7dedd824d92ef502fbb84628
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_18_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              0.08204468217605418,
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+              0.06221049632839652,
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+              0.07460185482423418,
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+              0.0,
+              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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+              "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,
+            "gripper_position": [
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+              0.08535508887249238,
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+              1.2376422188836775
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.00856164983071265,
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+            "max_held_gripper_z_dist": 0.004568280601002561,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08574300576776042,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
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+              0.06415204409525603,
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+              0.07700034612478847,
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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": 0.004129535681925862,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+                {
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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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+          "metrics": {
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+            "release_gap_margin": 0.02,
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+            "release_min_pad_clearance": 0.1536326275986084,
+            "release_required_pad_clearance": 0.05281731777772991,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6772363479023388,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e39e27e068106d203846a7c865491128d6bf52225cd619884d60a102ec2ec5fa",
+    "visual_seed": 3151417813782887819,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_19_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e42378d8946352f808dab2c18ae9d05ef71e9528
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_19_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.08514142377372136,
+              1.0454922883611233
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+            "gripper_z": 1.0497945918105043,
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+            "gripper_position": [
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+              0.08040813177592597,
+              1.0497945918105043
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+              0.0047332919977953886,
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+            "object_to_gripper_z": -0.004302303449380984,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2426168277816929,
+              0.06071047685025302,
+              1.0454922883611233
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+              0.08514142377372136,
+              1.0454922883611233
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+              0.07292595031198719,
+              1.0454922883611233
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+              0.01221547346173417,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "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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+                  "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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+        "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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+              0.08429120540115147,
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+            "held_position": [
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+              0.08861615746337487,
+              1.2369185370741105
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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": 0.008094773574610048,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004407722518360524,
+            "max_held_gripper_z_dist": 0.004411026482946667,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08631494502485709,
+            "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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+              0.07592493858999075,
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+            "held_grasp_object_position": [
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+              0.08861615746337487,
+              1.2369185370741105
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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": 0.024650045379507622,
+            "held_grasp_world_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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+              -0.9974694960277097,
+              0.016153044564351293
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003940423020318019,
+            "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": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+        },
+        "gripper": null,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
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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_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15430256835482484,
+            "release_required_pad_clearance": 0.05294874251707016,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9337625885283791,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "513d1a97e20f47a6d26f0375cfda093fb60f9aa8fa0cce79881e7603877aef7a",
+    "visual_seed": 5302160261214072358,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_1_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..046f4d231f0ef7f203954f1dd7ebc5cd97eae8fa
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_1_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.004690311451282972,
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+              0.06730468896457907,
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+              1.044976291328427
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+              0.07952286567947825,
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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": 213,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
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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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+        "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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+              0.0906672240587044,
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+            "held_shake_count": 5,
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+            "max_held_gripper_dist": 0.008055693950019968,
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+            "max_held_gripper_z_dist": 0.004428195282698111,
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+            "held_object_min_xy_range": 0.04,
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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": 0.003904444692761462,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "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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+    },
+    {
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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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+            "require_object_upright": true,
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+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755978541882064,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08544131465626524,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15308718598110838,
+            "release_required_pad_clearance": 0.05272065732813262,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4909799921866691,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c2ac900149ccf01164e67dce3d833135782eadfbe9f3fac4765112615d0e07e2",
+    "visual_seed": 1764358350938755037,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_20_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0d6a3417d8d16897ceea2f06e162dd66bec9ff9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_20_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.24503324905558407,
+              0.09437329052142192,
+              1.0434357635260447
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+            "current_z": 1.0434357635260447,
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+            "gripper_z": 1.0479211166928966,
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+            "gripper_position": [
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+              0.08942368646567939,
+              1.0479211166928966
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+              0.004949604055742532,
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+            "object_to_gripper_z": -0.004485353166851835,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.06963230240070589,
+              1.0434357635260447
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+            "finger_b": [
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+              0.09437329052142192,
+              1.0434357635260447
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+              0.0820027964610639,
+              1.0434357635260447
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+              0.01237049406035802,
+              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": 0.04904948233499587,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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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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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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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+      },
+      "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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+              0.09300405135213592,
+              1.2392672615274714
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+            "held_position": [
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+              0.09751227263752292,
+              1.2346561064422472
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008568243530772632,
+            "max_held_gripper_dist": 0.008574575125046105,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004611155085224139,
+            "max_held_gripper_z_dist": 0.0046213024011281245,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08649022053012537,
+            "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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+              1.2346561064422472
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+              0.08470092711221322,
+              1.2346561064422472
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+            "held_grasp_object_position": [
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+              0.09751227263752292,
+              1.2346561064422472
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+            "held_grasp_finger_gap": 0.02748076919869328,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025003067261260194,
+            "held_grasp_world_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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+              -0.9981039778916969,
+              0.021991156793329747
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004231538681762687,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032127648734527656,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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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": [
+              0.26739634946384183,
+              -0.3729311566371737,
+              0.8470196619640944
+            ],
+            "target_position": [
+              0.2608701786511864,
+              -0.37491237470372857,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006820273491818288,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1850107204259421,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196619640944,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556689983957302,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08648788070079357,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1533027533598278,
+            "release_required_pad_clearance": 0.053243940350396785,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5071081608143355,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b96ba0030743433e925e304b688d867af5b7a8438f85bf88812ce41216f7527a",
+    "visual_seed": 486792770166764627,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_21_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e891c1041cf177cd74a3523fb0b4ef9bf9ea903
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_21_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24010165627708233,
+              0.08595635434977236,
+              1.0456717413771457
+            ],
+            "current_z": 1.0456717413771457,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18908523396858012,
+            "gripper_z": 1.0499444279503776,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2353124777561037,
+              0.08121341929375471,
+              1.0499444279503776
+            ],
+            "object_minus_gripper": [
+              0.004789178520978626,
+              0.0047429350560176525,
+              -0.004272686573231876
+            ],
+            "object_to_gripper_xy": 0.0067403014659141326,
+            "object_to_gripper_z": -0.004272686573231876,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24010165627708233,
+              0.06178719999868622,
+              1.0456717413771457
+            ],
+            "finger_b": [
+              0.22835032355486068,
+              0.08595635434977236,
+              1.0456717413771457
+            ],
+            "finger_midpoint": [
+              0.2342259899159715,
+              0.0738717771742293,
+              1.0456717413771457
+            ],
+            "object_minus_finger_midpoint": [
+              0.005875666361110837,
+              0.012084577175543065,
+              0.0
+            ],
+            "finger_gap": 0.026874557536729484,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013437278768364742,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0456717413771457,
+            "object_top_z": 1.09212372223792,
+            "finger_top_clearance": 0.0464519808607744,
+            "fingertip_min_top_clearance": 0.013935594258232353,
+            "object_projection_between_fingers": 0.8087983656361534,
+            "object_to_finger_line_xy": 0.010568351646577765,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048887819372447364,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9277550351967438,
+            "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/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": [
+              0.24012858391067893,
+              0.08498271106961056,
+              1.2405504684918613
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+            "held_position": [
+              0.24525172170281628,
+              0.08924646187042637,
+              1.236164502117082
+            ],
+            "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": 0.007978897967099153,
+            "max_held_gripper_dist": 0.007982940445005427,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004385966374779393,
+            "max_held_gripper_z_dist": 0.004387520924433508,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08654780481206159,
+            "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": [
+              0.24525172170281628,
+              0.06385794621413286,
+              1.236164502117082
+            ],
+            "held_grasp_finger_b": [
+              0.23582713503780176,
+              0.08924646187042637,
+              1.236164502117082
+            ],
+            "held_grasp_midpoint": [
+              0.240539428370309,
+              0.07655220404227961,
+              1.236164502117082
+            ],
+            "held_grasp_object_position": [
+              0.24525172170281628,
+              0.08924646187042637,
+              1.236164502117082
+            ],
+            "held_grasp_finger_gap": 0.027081350797850356,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024556094257338127,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07915415170141045,
+              -0.9965958531203731,
+              0.023050505671368567
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037046204467050684,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032176182674536064,
+            "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": {
+        "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": [
+              0.258513018781702,
+              -0.3755359871998811,
+              0.8470196957433493
+            ],
+            "target_position": [
+              0.25302772525929873,
+              -0.37711518736733435,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005708092342963958,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18457403150553986,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196957433493,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546752999320645,
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+            "release_fingertip_min_gap": 0.08509592905207287,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15303109957626743,
+            "release_required_pad_clearance": 0.05254796452603644,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.16312840482059304,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e2d39cee7d44bd9cc1c6238ba13ce2ceb087ff818fc659788488c3fa32bc6a7e",
+    "visual_seed": 8496438516254101939,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_22_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab9a22757fdcdee97c2e4e6237b27025f29a6317
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_22_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.0843161811747766,
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+            "gripper_position": [
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+              0.07952214216201091,
+              1.0491928342974988
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+              0.004794039012765691,
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+              0.060104200376975274,
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+              0.0843161811747766,
+              1.0446553575470248
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+              0.07221019077587594,
+              1.0446553575470248
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+            "fingertip_z_max_dist": 0.1,
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+              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": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "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": [
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+              0.08299320277583606,
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+              0.08726806033564825,
+              1.2371461917936466
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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": 0.008215467538595169,
+            "max_held_gripper_dist": 0.008219387159281433,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0046444432992858165,
+            "max_held_gripper_z_dist": 0.004647369516570299,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08668791386888211,
+            "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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+              0.06184044124249463,
+              1.2371461917936466
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+              0.08726806033564825,
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+              0.07455425078907144,
+              1.2371461917936466
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+            "held_grasp_object_position": [
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+              0.08726806033564825,
+              1.2371461917936466
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+            "held_grasp_finger_gap": 0.027150502219837207,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02455105226112035,
+            "held_grasp_world_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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+              -0.9962721086485846,
+              0.026362908209500706
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003714070359444786,
+            "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": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": [
+              0.2652917645573273,
+              -0.3794837284208059,
+              0.8470190578714591
+            ],
+            "target_position": [
+              0.2601575024769823,
+              -0.38066458236559775,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0052683074273051425,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18356969098162576,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470190578714591,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544196809007764,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08546422687589121,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1520346407824421,
+            "release_required_pad_clearance": 0.05273211343794561,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5143395127101839,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bcb45ef3afbfd31b00f51f1d8d35219403cb025968993e08efc12923de05a1b3",
+    "visual_seed": 3631843075319711043,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_23_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1107dd1eda6f30f998774868bcaa9f2741a734cd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_23_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.09274275658146262,
+              1.0455678444848469
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+            "gripper_z": 1.050048751368699,
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+            "gripper_position": [
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+              0.08802745946548127,
+              1.050048751368699
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+              0.004715297115981357,
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+            "object_to_gripper_z": -0.004480906883852054,
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+              0.06844308588746885,
+              1.0455678444848469
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+              0.09274275658146262,
+              1.0455678444848469
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+              0.08059292123446574,
+              1.0455678444848469
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0489324245333924,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "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": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.09162984553145814,
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+            "held_position": [
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+              0.09590205833696568,
+              1.2363591807321144
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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": 0.008110462275570943,
+            "max_held_gripper_dist": 0.008113443321052342,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004595272358106639,
+            "max_held_gripper_z_dist": 0.004599665259583885,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08642450698443457,
+            "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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+              1.2363591807321144
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+              0.08322363507921487,
+              1.2363591807321144
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+            "held_grasp_object_position": [
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+              0.09590205833696568,
+              1.2363591807321144
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+            "held_grasp_finger_gap": 0.027071544694024587,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024583400877868866,
+            "held_grasp_world_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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+              -0.9969640449934888,
+              0.025827512252247997
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038111328129363372,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03221206113437168,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": [
+              0.26330776034497627,
+              -0.37623925549239656,
+              0.8470195571945095
+            ],
+            "target_position": [
+              0.25833963979129726,
+              -0.3773373033082228,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005088018360985798,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18632173914909045,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195571945095,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530911372914854,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08583208096723553,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15510019344048778,
+            "release_required_pad_clearance": 0.05291604048361777,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8704250670182241,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d137657459387e46227f987e4cd9d6488338b0a253ba79ed0dcd3835ece77a9b",
+    "visual_seed": 6260612229611100506,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_24_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5dcd30d6cf00df43cb6fc7bbf46e0afa00aecf52
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_24_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.24891008221593616,
+              0.08581149177252256,
+              1.0442579956914355
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+            "gripper_z": 1.0487784463351668,
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+            "gripper_position": [
+              0.2436190219509309,
+              0.08089782861990802,
+              1.0487784463351668
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+              0.005291060265005254,
+              0.004913663152614545,
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+            "object_to_gripper_z": -0.0045204506437313,
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+              0.24891008221593616,
+              0.061174834845259006,
+              1.0442579956914355
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+            "finger_b": [
+              0.23705078422849704,
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+              1.0442579956914355
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+            "finger_midpoint": [
+              0.2429804332222166,
+              0.07349316330889079,
+              1.0442579956914355
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+              0.005929648993719561,
+              0.012318328463631775,
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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": 0.30689646190604614,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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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": [
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+              0.08483864589467724,
+              1.2401918068905102
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+              1.2355535221876979
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+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008513525948018498,
+            "max_held_gripper_dist": 0.00852265186775561,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004638284702812356,
+            "max_held_gripper_z_dist": 0.004643189440539208,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08642619928776406,
+            "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": [
+              0.2538339674507435,
+              0.06380183720627633,
+              1.2355535221876979
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+              0.08933456309856543,
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+              0.07656820015242088,
+              1.2355535221876979
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+            "held_grasp_object_position": [
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+              0.08933456309856543,
+              1.2355535221876979
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+            "held_grasp_finger_gap": 0.027416835467091217,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024822314974712965,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06542455536373623,
+              -0.9977698487738833,
+              0.013227109782543597
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004151656232765846,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03213559840083295,
+            "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": [
+              0.2659062906515549,
+              -0.3760586443054113,
+              0.8470195934879969
+            ],
+            "target_position": [
+              0.25859372669943315,
+              -0.3788038944143521,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00781088917566432,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18729351103233077,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195934879969,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562607104694696,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08539991924861957,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15544624515137037,
+            "release_required_pad_clearance": 0.05269995962430979,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4545638788686853,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6b2f5d5bce41d8e5738b82a8b3795bf250619882dd5277e140c085cb857505c6",
+    "visual_seed": 8496421580320722887,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_25_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3bf794610f3e5bd2af432493bffa8a1195ded7b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_25_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 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": [
+              0.24972461212466318,
+              0.08855615052301508,
+              1.0447960772142706
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+            "gripper_z": 1.0493211795642865,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24463514620722088,
+              0.08376990930070424,
+              1.0493211795642865
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+              0.005089465917442304,
+              0.004786241222310833,
+              -0.004525102350015908
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+            "object_to_gripper_z": -0.004525102350015908,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24972461212466318,
+              0.06399534967649897,
+              1.0447960772142706
+            ],
+            "finger_b": [
+              0.2381351383676979,
+              0.08855615052301508,
+              1.0447960772142706
+            ],
+            "finger_midpoint": [
+              0.24392987524618054,
+              0.07627575009975703,
+              1.0447960772142706
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057947368784826425,
+              0.01228040042325805,
+              0.0
+            ],
+            "finger_gap": 0.027157850433817715,
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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": 0.01406854252974966,
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+            "object_to_finger_line_xy": 0.010481196129804837,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049623939011388105,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.388938985836997,
+            "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": [
+                {
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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": [
+              0.24924031553966114,
+              0.08761346794456588,
+              1.241418071679193
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+            "held_position": [
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+              0.09201249732264163,
+              1.2367870171005284
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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": 0.008322112790578564,
+            "max_held_gripper_dist": 0.008323281309517216,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0046310545786645285,
+            "max_held_gripper_z_dist": 0.004635127005073514,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08595511993745766,
+            "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": [
+              0.25457505408239856,
+              0.06661264785946586,
+              1.2367870171005284
+            ],
+            "held_grasp_finger_b": [
+              0.24474336632020624,
+              0.09201249732264163,
+              1.2367870171005284
+            ],
+            "held_grasp_midpoint": [
+              0.24965921020130238,
+              0.07931257259105375,
+              1.2367870171005284
+            ],
+            "held_grasp_object_position": [
+              0.25457505408239856,
+              0.09201249732264163,
+              1.2367870171005284
+            ],
+            "held_grasp_finger_gap": 0.027236270614848006,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024886621452452507,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.048248667033851986,
+              -0.9984699837862898,
+              0.02701402612093673
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004311292342234877,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03228254841036571,
+            "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": [
+              0.26517940621639935,
+              -0.3728742345567163,
+              0.8470196600746946
+            ],
+            "target_position": [
+              0.26009550470161985,
+              -0.37433243254985576,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005288893646044814,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18484232437264583,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196600746946,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580038804942422,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0870930033814256,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.152665995209791,
+            "release_required_pad_clearance": 0.0535465016907128,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.104037506929717,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ef45904e37290bb1d2f52445af79a29284bdd7851ca5abc693b56f43d5ea91dd",
+    "visual_seed": 5391668566096900805,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_27_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..116a037585f1379d09653b07ebef76996e5e79fe
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_27_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.24780362923688418,
+              0.08997465506046007,
+              1.045657717608803
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+            "current_z": 1.045657717608803,
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+            "gripper_z": 1.0500897808394067,
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+            "gripper_position": [
+              0.24289949944222425,
+              0.08512360120617077,
+              1.0500897808394067
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+              0.004904129794659928,
+              0.0048510538542893,
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+            "object_to_gripper_z": -0.004432063230603633,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24780362923688418,
+              0.06580289426426666,
+              1.045657717608803
+            ],
+            "finger_b": [
+              0.23579439387283166,
+              0.08997465506046007,
+              1.045657717608803
+            ],
+            "finger_midpoint": [
+              0.24179901155485792,
+              0.07788877466236337,
+              1.045657717608803
+            ],
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+              0.006004617682026259,
+              0.012085880398096702,
+              0.0
+            ],
+            "finger_gap": 0.02699066049613462,
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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": 0.8020280375913832,
+            "object_to_finger_line_xy": 0.010754992994952308,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04906310920943126,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1026966242631857,
+            "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": [
+                {
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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": [
+              0.24773825579708356,
+              0.08853884302519574,
+              1.2428848288708458
+            ],
+            "held_position": [
+              0.2530233580298497,
+              0.09286047569223338,
+              1.238343788592622
+            ],
+            "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": 0.008199381764989803,
+            "max_held_gripper_dist": 0.008206539608097325,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0045410402782237735,
+            "max_held_gripper_z_dist": 0.004544362026496662,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08578810415296612,
+            "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": [
+              0.2530233580298497,
+              0.06744449870023125,
+              1.238343788592622
+            ],
+            "held_grasp_finger_b": [
+              0.2434023323347539,
+              0.09286047569223338,
+              1.238343788592622
+            ],
+            "held_grasp_midpoint": [
+              0.2482128451823018,
+              0.08015248719623232,
+              1.238343788592622
+            ],
+            "held_grasp_object_position": [
+              0.2530233580298497,
+              0.09286047569223338,
+              1.238343788592622
+            ],
+            "held_grasp_finger_gap": 0.02717601924277497,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024543670429988024,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08104424763021276,
+              -0.9963574969731344,
+              0.026524859122785238
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003780301909032981,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03214866096192678,
+            "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": [
+              0.2619424331000307,
+              -0.3744853665689416,
+              0.84701912098581
+            ],
+            "target_position": [
+              0.2563395556323912,
+              -0.37607678733962335,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00582450478467823,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18546518614452456,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.84701912098581,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572051031728395,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08515612663633047,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15330633584673795,
+            "release_required_pad_clearance": 0.05257806331816524,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.21668191007272744,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e92f64c3f03344c740ffd9b9276c72098d51d3669004ab303f853b780e296519",
+    "visual_seed": 1530961975097149087,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_28_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..987f2c7b92536baa6a09331feb789a97d5ceeaac
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_28_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24870407926643823,
+              0.08904259074301395,
+              1.0449500450017186
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+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18836353759315305,
+            "gripper_z": 1.049575596817044,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24380906743754277,
+              0.0842405918427996,
+              1.049575596817044
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+              0.004895011828895457,
+              0.004801998900214349,
+              -0.004625551815325313
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+            "object_to_gripper_xy": 0.006857137467098517,
+            "object_to_gripper_z": -0.004625551815325313,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24870407926643823,
+              0.06481343249373069,
+              1.0449500450017186
+            ],
+            "finger_b": [
+              0.23684046392624072,
+              0.08904259074301395,
+              1.0449500450017186
+            ],
+            "finger_midpoint": [
+              0.24277227159633946,
+              0.07692801161837232,
+              1.0449500450017186
+            ],
+            "object_minus_finger_midpoint": [
+              0.005931807670098765,
+              0.01211457912464163,
+              0.0
+            ],
+            "finger_gap": 0.02697772189064489,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013488860945322452,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0449500450017186,
+            "object_top_z": 1.091518675338662,
+            "finger_top_clearance": 0.04656863033694347,
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+            "object_projection_between_fingers": 0.8066146515815783,
+            "object_to_finger_line_xy": 0.010654917959768409,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04903893966594407,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0544143019511119,
+            "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/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": "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": [
+              0.24867784324338665,
+              0.08769985299791988,
+              1.2425408113614378
+            ],
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+              0.2539333128673995,
+              0.09199812885567953,
+              1.237808981049865
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008275587859230367,
+            "max_held_gripper_dist": 0.008283073660226471,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004731830311572871,
+            "max_held_gripper_z_dist": 0.004735578333150858,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08566390039175603,
+            "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": [
+              0.2539333128673995,
+              0.06659957208597299,
+              1.237808981049865
+            ],
+            "held_grasp_finger_b": [
+              0.24435236587463746,
+              0.09199812885567953,
+              1.237808981049865
+            ],
+            "held_grasp_midpoint": [
+              0.2491428393710185,
+              0.07929885047082626,
+              1.237808981049865
+            ],
+            "held_grasp_object_position": [
+              0.2539333128673995,
+              0.09199812885567953,
+              1.237808981049865
+            ],
+            "held_grasp_finger_gap": 0.027145556381517066,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024556626910071874,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07869076722889745,
+              -0.9965353232156964,
+              0.02692791741511258
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037922136543315408,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032167979441134996,
+            "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": [
+              0.2632893978378437,
+              -0.3784995228553525,
+              0.8470194468661969
+            ],
+            "target_position": [
+              0.2576913344171753,
+              -0.38019031048178736,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005847826678308038,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18487040808743369,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194468661969,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584198514316279,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0855447652171376,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1524697335725953,
+            "release_required_pad_clearance": 0.0527723826085688,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5934708608294241,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f38951b8da9ebb30019562b718f302f282e1132fb43126f5cc1083c3c7386016",
+    "visual_seed": 7785122580270173820,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_29_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6c8285c6c2e65bf07c5c00301896d746ff6371c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_29_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.08895502270399845,
+              1.0457933588249664
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+            "lift_margin": 0.1892069110210456,
+            "gripper_z": 1.0504060989407134,
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+            "gripper_position": [
+              0.2427741366464481,
+              0.08415991956557627,
+              1.0504060989407134
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+              0.005024603273908385,
+              0.004795103138422185,
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+            "object_to_gripper_z": -0.004612740115746972,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24779873992035648,
+              0.06451641472258834,
+              1.0457933588249664
+            ],
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+              0.08895502270399845,
+              1.0457933588249664
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+            "finger_midpoint": [
+              0.24194603141870935,
+              0.0767357187132934,
+              1.0457933588249664
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+            "object_minus_finger_midpoint": [
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+              0.012219303990705047,
+              0.0
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+            "finger_gap": 0.02709727564331979,
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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": 0.010556932038773543,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0487738916795427,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8064766894149462,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "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": [
+              0.24761625830175013,
+              0.08773254349100332,
+              1.240113859040336
+            ],
+            "held_position": [
+              0.2529160251103877,
+              0.0920875306639448,
+              1.2353750100397953
+            ],
+            "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": 0.008337273616257685,
+            "max_held_gripper_dist": 0.008342076570051581,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004738849000540668,
+            "max_held_gripper_z_dist": 0.00474087897583253,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08559229007937275,
+            "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": [
+              0.2529160251103877,
+              0.0665968184971188,
+              1.2353750100397953
+            ],
+            "held_grasp_finger_b": [
+              0.24334900555011593,
+              0.0920875306639448,
+              1.2353750100397953
+            ],
+            "held_grasp_midpoint": [
+              0.24813251533025182,
+              0.0793421745805318,
+              1.2353750100397953
+            ],
+            "held_grasp_object_position": [
+              0.2529160251103877,
+              0.0920875306639448,
+              1.2353750100397953
+            ],
+            "held_grasp_finger_gap": 0.027226903423610137,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02470932307505549,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07376065403647422,
+              -0.9970295270163672,
+              0.022169532553277357
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003841069846642316,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03213989380833764,
+            "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": [
+              0.26115999259351563,
+              -0.37550890417631466,
+              0.8470197361081526
+            ],
+            "target_position": [
+              0.25496978598311765,
+              -0.3774071009194131,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006474705302554273,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18475070587100262,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197361081526,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586435876351752,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08562079141476132,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15245103042333633,
+            "release_required_pad_clearance": 0.052810395707380664,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6655813349895597,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3deb3610753cc94223054e1e9adaf9736afea2db0754e2a685c2fd1cd5552e95",
+    "visual_seed": 2967024751599597727,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_30_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..42afd827180ded55d7a23ee6243d8c670bc7f3ff
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_30_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.24155978277290532,
+              0.0910398673215529,
+              1.0440861055413075
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+            "current_z": 1.0440861055413075,
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+            "lift_margin": 0.18749965773738675,
+            "gripper_z": 1.0484496142454562,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23660292476300981,
+              0.08629102465496867,
+              1.0484496142454562
+            ],
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+              0.0049568580098955095,
+              0.004748842666584235,
+              -0.0043635087041487
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+            "object_to_gripper_xy": 0.006864542810867753,
+            "object_to_gripper_z": -0.0043635087041487,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24155978277290532,
+              0.06663450095886415,
+              1.0440861055413075
+            ],
+            "finger_b": [
+              0.22994321967381676,
+              0.0910398673215529,
+              1.0440861055413075
+            ],
+            "finger_midpoint": [
+              0.23575150122336103,
+              0.07883718414020853,
+              1.0440861055413075
+            ],
+            "object_minus_finger_midpoint": [
+              0.005808281549544297,
+              0.012202683181344376,
+              0.0
+            ],
+            "finger_gap": 0.02702899268437812,
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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": 1.0903858875927874,
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+            "fingertip_min_top_clearance": 0.013889934615443949,
+            "object_projection_between_fingers": 0.8152877961198879,
+            "object_to_finger_line_xy": 0.01048897684124223,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0486278716572939,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6991812368985709,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/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": [
+              0.24126345326787077,
+              0.09008023986144213,
+              1.2413483237829281
+            ],
+            "held_position": [
+              0.24652058771427263,
+              0.0943926320213483,
+              1.2368833903738727
+            ],
+            "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": 0.008134483331820421,
+            "max_held_gripper_dist": 0.008136710379474497,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004464933409055405,
+            "max_held_gripper_z_dist": 0.004469135015838566,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08633416551963312,
+            "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": [
+              0.24652058771427263,
+              0.06903770703947568,
+              1.2368833903738727
+            ],
+            "held_grasp_finger_b": [
+              0.2368356372431308,
+              0.0943926320213483,
+              1.2368833903738727
+            ],
+            "held_grasp_midpoint": [
+              0.24167811247870172,
+              0.081715169530412,
+              1.2368833903738727
+            ],
+            "held_grasp_object_position": [
+              0.24652058771427263,
+              0.0943926320213483,
+              1.2368833903738727
+            ],
+            "held_grasp_finger_gap": 0.02714167434895752,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02459516440730869,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07109932600434327,
+              -0.9971931637056238,
+              0.023466574110790343
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003940414126167437,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0322140493112728,
+            "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": [
+              0.2576490174243393,
+              -0.3809682179559212,
+              0.8470195322766196
+            ],
+            "target_position": [
+              0.25285568352455956,
+              -0.3821280690282056,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004931663450059953,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18383033859447528,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195322766196,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586708095660477,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08585384897250183,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15137022445268972,
+            "release_required_pad_clearance": 0.052926924486250915,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8908665433136085,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "70216033a0d379fa2223dd5df0c390d607d102af88ff2d1b831582666c77f065",
+    "visual_seed": 16756778771877509,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_31_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfce5ae793ad5c933089a9122dcb4928afab27f2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_31_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24638433801579623,
+              0.08601656781039811,
+              1.0436700178738523
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+            "current_z": 1.0436700178738523,
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+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1870835104652867,
+            "gripper_z": 1.0484022898290584,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.24131981167027325,
+              0.08113593126155441,
+              1.0484022898290584
+            ],
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+              0.005064526345522985,
+              0.0048806365488437,
+              -0.004732271955206091
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+            "object_to_gripper_xy": 0.007033494169074526,
+            "object_to_gripper_z": -0.004732271955206091,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24638433801579623,
+              0.0616630496363587,
+              1.0436700178738523
+            ],
+            "finger_b": [
+              0.23441227633964234,
+              0.08601656781039811,
+              1.0436700178738523
+            ],
+            "finger_midpoint": [
+              0.2403983071777193,
+              0.0738398087233784,
+              1.0436700178738523
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059860308380769445,
+              0.012176759087019706,
+              0.0
+            ],
+            "finger_gap": 0.027137135225202027,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013568567612601013,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0436700178738523,
+            "object_top_z": 1.090303650935307,
+            "finger_top_clearance": 0.04663363306145474,
+            "fingertip_min_top_clearance": 0.013990089918436421,
+            "object_projection_between_fingers": 0.8053699503103551,
+            "object_to_finger_line_xy": 0.010744016241632006,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04897699634226818,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+                "dummy_base_revolute_z_joint",
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+                "festo",
+                "finger",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
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+                "geometry",
+                "gripper",
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+                "joint3",
+                "joint4",
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+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "wheel",
+                "workbench"
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+            },
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+            "last_frame": {
+              "passed": true,
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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
+      },
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+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24616761822111363,
+              0.08463398123393329,
+              1.2396161979998994
+            ],
+            "held_position": [
+              0.25157891622707973,
+              0.08900361706711662,
+              1.2347687485033656
+            ],
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008477831683010608,
+            "max_held_gripper_dist": 0.008482670610810499,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004847449496533818,
+            "max_held_gripper_z_dist": 0.00485205240876585,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08665737111854971,
+            "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": [
+              0.25157891622707973,
+              0.06349648572049858,
+              1.2347687485033656
+            ],
+            "held_grasp_finger_b": [
+              0.24189297988666375,
+              0.08900361706711662,
+              1.2347687485033656
+            ],
+            "held_grasp_midpoint": [
+              0.24673594805687174,
+              0.07625005139380761,
+              1.2347687485033656
+            ],
+            "held_grasp_object_position": [
+              0.25157891622707973,
+              0.08900361706711662,
+              1.2347687485033656
+            ],
+            "held_grasp_finger_gap": 0.027284264921822902,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02462691358992932,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08121493679644193,
+              -0.9963314161943231,
+              0.02697856826009115
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038072524346707574,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03210012546314487,
+            "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": [
+              0.2574233260146622,
+              -0.3775340314707642,
+              0.8470200657459138
+            ],
+            "target_position": [
+              0.25123558971359206,
+              -0.37944381021606866,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006475749793467795,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18527056597876904,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470200657459138,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758717834410909,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08556757006919015,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15286046122444266,
+            "release_required_pad_clearance": 0.05278378503459508,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6142090021720796,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9827096ba75893d5a9a734b5edab41b1b38ec6234acc2e116598a561247be2c5",
+    "visual_seed": 4723027441247693543,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_32_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..738c3eb3ef30b0acdd35c08cc87bea8165eedd92
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_32_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.24305196066092816,
+              0.0903010993879346,
+              1.047152478506672
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+            "current_z": 1.047152478506672,
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+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19056591149346158,
+            "gripper_z": 1.0516710155629878,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.23842286750564434,
+              0.08571575970633569,
+              1.0516710155629878
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+            "object_minus_gripper": [
+              0.004629093155283814,
+              0.00458533968159891,
+              -0.0045185370563158855
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+            "object_to_gripper_xy": 0.0065156613966612055,
+            "object_to_gripper_z": -0.0045185370563158855,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24305196066092816,
+              0.06612541858181556,
+              1.047152478506672
+            ],
+            "finger_b": [
+              0.23167000002650315,
+              0.0903010993879346,
+              1.047152478506672
+            ],
+            "finger_midpoint": [
+              0.23736098034371567,
+              0.07821325898487508,
+              1.047152478506672
+            ],
+            "object_minus_finger_midpoint": [
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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",
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+                "gripper",
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+                "joint4",
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+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
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+                "wrist_2_joint",
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+              ],
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+                "base_link",
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+            },
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+            "last_frame": {
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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
+      },
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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": [
+              0.24318614218314558,
+              0.08956202040958651,
+              1.2429862417376947
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+            "held_position": [
+              0.24810257389764634,
+              0.09372666272147495,
+              1.238362529655595
+            ],
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007930590129837491,
+            "max_held_gripper_dist": 0.007933703854572385,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0046237120820997735,
+            "max_held_gripper_z_dist": 0.004626126755875815,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08626684089501896,
+            "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": [
+              0.24810257389764634,
+              0.0684974844489973,
+              1.238362529655595
+            ],
+            "held_grasp_finger_b": [
+              0.23879437109253865,
+              0.09372666272147495,
+              1.238362529655595
+            ],
+            "held_grasp_midpoint": [
+              0.2434484724950925,
+              0.08111207358523612,
+              1.238362529655595
+            ],
+            "held_grasp_object_position": [
+              0.24810257389764634,
+              0.09372666272147495,
+              1.238362529655595
+            ],
+            "held_grasp_finger_gap": 0.02689152423655962,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024492680638450278,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07054242680005435,
+              -0.9968340459548323,
+              0.036683113914691694
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003781805253490028,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03229726143156626,
+            "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": [
+              0.26410290686796484,
+              -0.37758592634084015,
+              0.8470196188966824
+            ],
+            "target_position": [
+              0.2596216812405642,
+              -0.3783521558851322,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004546261193356416,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18324117760963685,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196188966824,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529094121331516,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08537293912550344,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15219776634470744,
+            "release_required_pad_clearance": 0.05268646956275172,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4279573417186377,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1b4671e232a15fd40b60e5e759c249e81082f2ae16bdce0d8026670a9b41399c",
+    "visual_seed": 4940267653233905868,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_33_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1ef0865a00192cd229673bfc1874f5cfdaae851
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_33_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24539255427898068,
+              0.08424494757212957,
+              1.0434813634625781
+            ],
+            "current_z": 1.0434813634625781,
+            "required_z": 0.8565865074085656,
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+                "panda_rightfingertip",
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+                "ridgebase_festo",
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+                "right_inner_finger",
+                "rizon4",
+                "robot",
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+            "failed_keys": []
+          }
+        },
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+      }
+    },
+    {
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+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "gripper_position": [
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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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+              0.061780532334877174,
+              1.2373906454232577
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+              0.08722107281319309,
+              1.2373906454232577
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+              0.08722107281319309,
+              1.2373906454232577
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024547361619458013,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08249376782791135,
+              -0.9962403324247772,
+              0.026457103388771275
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003783536765647053,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03212901327235633,
+            "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/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": [
+              0.2586589393528841,
+              -0.37838855199941906,
+              0.8470194838305054
+            ],
+            "target_position": [
+              0.2529957078365582,
+              -0.38000206433156275,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005888600279649339,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18514808094918234,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194838305054,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542646049213644,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08553099391581852,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1538768351172802,
+            "release_required_pad_clearance": 0.05276549695790926,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5801326779800456,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bb5a3265433c8e2aa652db80b67011ca62285f9fb36590c1cfb39fa53133f2be",
+    "visual_seed": 7707696315806874518,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_35_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..360347a4b54ca1b42c1e8f0f9591cfff60e82f44
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_35_success.json
@@ -0,0 +1,686 @@
+{
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+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "efee37e49694f81d3bea356e6f182141c70ccc54f1f2f92d9d79a0337eee61b2",
+    "visual_seed": 7932859834166275857,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_36_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..473f1b6624a4992b112e302b564892c51cebf6b7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_36_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              0.09298511743847757,
+              1.0433926350987632
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+              0.08799424902726363,
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+              0.004990868411213933,
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+              0.0683039246396936,
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+              1.0433926350987632
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+              0.08064452103908559,
+              1.0433926350987632
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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": 211,
+            "max_stable_success_frames": 211,
+            "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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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "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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+              0.09167843585919448,
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+              0.09621090462552492,
+              1.2335446709066353
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008625008428143687,
+            "max_held_gripper_dist": 0.008628480711496541,
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+            "max_held_gripper_z_dist": 0.004682900708086191,
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+            "held_object_xy_range": 0.08664646182058598,
+            "held_object_min_xy_range": 0.04,
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+              0.08338852245535226,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02498099962001693,
+            "held_grasp_world_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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+              0.020254163313271012
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+            "held_grasp_object_to_finger_line_xy": 0.004187006998594911,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "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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+            "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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+          "skill": "place",
+          "target": "heater_platform",
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+          "metrics": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15392626347016314,
+            "release_required_pad_clearance": 0.05250890620437845,
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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": 0.08846647214980727,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b30e6cfce3148fe3464e14cd78d2558bdeb11b65941ed38f9fcbdbc308676328",
+    "visual_seed": 6144330458472994142,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_37_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..74ce762915b1a00f57edf561ba86a92cf0e4b55a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_37_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+          "skill": "pick",
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+              0.09537312950728351,
+              1.044291293427398
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+            "gripper_z": 1.0487855840615692,
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+              0.090525273231398,
+              1.0487855840615692
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+              0.0048478562758855065,
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+            "object_to_gripper_z": -0.004494290634171172,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.07121467699990504,
+              1.044291293427398
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+              1.044291293427398
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+              0.08329390325359427,
+              1.044291293427398
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 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": {
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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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+        "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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+              0.09406425518455742,
+              1.2414904923890013
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+              0.09837239689625919,
+              1.2368829260648233
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008218633736020881,
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+            "held_gripper_z_dist": 0.004607566324178025,
+            "max_held_gripper_z_dist": 0.0046115958592833906,
+            "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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+              0.07295510277953825,
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+              0.08566374983789872,
+              1.2368829260648233
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+              1.2368829260648233
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024501977140196727,
+            "held_grasp_world_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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+              0.025835809386742452
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+            "held_grasp_object_to_finger_line_xy": 0.00370034230360282,
+            "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": [],
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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "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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+          "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": 0.08523791271755797,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15443681077301863,
+            "release_required_pad_clearance": 0.05261895635877899,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.298706357539711,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c62facf6df7d06d89aa2baff14163909a4f9c726166cfcd0da6965ab3992ca52",
+    "visual_seed": 667740040497081219,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_39_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a54858c5c1b67b9cb2f78f9ec41b0e357c0b1ed6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_39_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              1.0446133060534875
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+            "gripper_z": 1.0490067024640821,
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+            "gripper_position": [
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+              0.08206522443326976,
+              1.0490067024640821
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+              0.06244361762048438,
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+              1.0446133060534875
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+              0.0746120781030686,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 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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+      },
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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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+              0.0856434411906164,
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+              0.08992093768855627,
+              1.2356334466727017
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008081435128544255,
+            "max_held_gripper_dist": 0.008085601704056743,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004508535913405609,
+            "max_held_gripper_z_dist": 0.004511682767494696,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08649309302524633,
+            "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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+              0.06451766198288032,
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+              0.07721929983571829,
+              1.2356334466727017
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+              0.08992093768855627,
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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": 0.02460736504285023,
+            "held_grasp_world_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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+              -0.9968911550494721,
+              0.021505788528150105
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037630038831298405,
+            "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"
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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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+    },
+    {
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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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+          "passed": true,
+          "metrics": {
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "release_gap_margin": 0.02,
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+            "release_min_pad_clearance": 0.15328583341170898,
+            "release_required_pad_clearance": 0.05281111819795738,
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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": 0.6679296043533103,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "34f4bcf553d20f0779c84e0b9953739fc31adaf0162fbdab524d74a4ec08854b",
+    "visual_seed": 2093227881996700618,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_3_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e96707bfd610c7b3069fb135ee077c7522f5ff2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_3_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.08612732394532965,
+              1.0434786695735863
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+            "gripper_z": 1.0479006724100808,
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+            "gripper_position": [
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+              0.08158924681724965,
+              1.0479006724100808
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+              0.004538077128080006,
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+            "object_to_gripper_z": -0.004422002836494521,
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+              0.062064729943576584,
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+              1.0434786695735863
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+              0.07409602694445312,
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+              0.012031297000876531,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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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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+              ],
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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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+              0.08513624423571453,
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+              0.08923783549697216,
+              1.2343431053043863
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007770804492172583,
+            "max_held_gripper_dist": 0.0077753403476578,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004527774833726239,
+            "max_held_gripper_z_dist": 0.0045291268718818944,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08637023473436459,
+            "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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+              0.0640117452138912,
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+              0.07662479035543168,
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+              1.2343431053043863
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02443671062645252,
+            "held_grasp_world_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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+              -0.9962916798300907,
+              0.03950306689052141
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036098740084268416,
+            "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": [],
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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
+      }
+    },
+    {
+      "step_index": 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,
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+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571957664661592,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08523417505381718,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15200116828722343,
+            "release_required_pad_clearance": 0.05261708752690859,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2934146824512729,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f6e048ddb5cb5efa1a7f1408921a9f69016323f871ad6f5e91f1f836b63ebada",
+    "visual_seed": 4386431655740322840,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_40_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2455c2349c487545ba9bf5c760c16ae6a1ff1db7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_40_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.24121775799940248,
+              0.09114762101511781,
+              1.0435383633062842
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+            "lift_margin": 0.18695197510700845,
+            "gripper_z": 1.047917649827435,
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+            "gripper_position": [
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+              0.0862796850420787,
+              1.047917649827435
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+              0.004929835017892681,
+              0.004867935973039111,
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+            "object_to_gripper_z": -0.004379286521150716,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.0669560839004311,
+              1.0435383633062842
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+              0.09114762101511781,
+              1.0435383633062842
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+              0.07905185245777446,
+              1.0435383633062842
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+              0.012095768557343345,
+              0.0
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04870947484313118,
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+            "object_upright_reference_source": "scene_initial",
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+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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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": [
+              0.24110104282268016,
+              0.08996096650396482,
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+              0.09429772019939098,
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008196671407708214,
+            "max_held_gripper_dist": 0.008204482545937974,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0044892705876702355,
+            "max_held_gripper_z_dist": 0.004493524441467889,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08636753883364934,
+            "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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+              0.06886827431125689,
+              1.236629949775865
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+              0.08158299725532393,
+              1.236629949775865
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+            "held_grasp_object_position": [
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+              0.09429772019939098,
+              1.236629949775865
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+            "held_grasp_finger_gap": 0.02719989598721164,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02454623096963625,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08196038645866802,
+              -0.996379664200338,
+              0.022584503969925063
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003779352606829414,
+            "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"
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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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+        "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": [
+              0.25895701654299896,
+              -0.37275672806934235,
+              0.8470195702621374
+            ],
+            "target_position": [
+              0.252913471963498,
+              -0.37450117102276,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006290271242334775,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18632349376024027,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195702621374,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539762822102364,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0856551235273759,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15498801279074925,
+            "release_required_pad_clearance": 0.052827561763687955,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6999717646903652,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a3b1c9a7ec1186ee633057b3856f755c0789fea307766ec43d8f4b4686eb5da7",
+    "visual_seed": 5863921827094330032,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_41_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b46dc146b201d1430c3c0619b5a03091842a748d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_41_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24958362413257523,
+              0.08700568220269277,
+              1.04638945852987
+            ],
+            "current_z": 1.04638945852987,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1898030107259493,
+            "gripper_z": 1.0509035517607348,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24468130176638106,
+              0.08231360406931942,
+              1.0509035517607348
+            ],
+            "object_minus_gripper": [
+              0.004902322366194173,
+              0.0046920781333733425,
+              -0.004514093230864713
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+            "object_to_gripper_xy": 0.006785894325125311,
+            "object_to_gripper_z": -0.004514093230864713,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24958362413257523,
+              0.06258748207376581,
+              1.04638945852987
+            ],
+            "finger_b": [
+              0.23811297145708588,
+              0.08700568220269277,
+              1.04638945852987
+            ],
+            "finger_midpoint": [
+              0.24384829779483055,
+              0.07479658213822929,
+              1.04638945852987
+            ],
+            "object_minus_finger_midpoint": [
+              0.005735326337744678,
+              0.012209100064463477,
+              0.0
+            ],
+            "finger_gap": 0.026978220295972813,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013489110147986406,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04638945852987,
+            "object_top_z": 1.093953189553624,
+            "finger_top_clearance": 0.047563731023754,
+            "fingertip_min_top_clearance": 0.014269119307126215,
+            "object_projection_between_fingers": 0.8192202979674884,
+            "object_to_finger_line_xy": 0.01038217827442537,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04993711980516019,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5724188499683498,
+            "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/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": [
+              0.24938772074801466,
+              0.08589208176250575,
+              1.2443480681068502
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+            "held_position": [
+              0.25456763844781827,
+              0.09017146812752097,
+              1.2397346015021349
+            ],
+            "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": 0.008150384601393982,
+            "max_held_gripper_dist": 0.008153048995710725,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004613466604715288,
+            "max_held_gripper_z_dist": 0.004617599510063908,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08642379575567066,
+            "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": [
+              0.25456763844781827,
+              0.06484954999022421,
+              1.2397346015021349
+            ],
+            "held_grasp_finger_b": [
+              0.24495492579821274,
+              0.09017146812752097,
+              1.2397346015021349
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+            "held_grasp_midpoint": [
+              0.24976128212301552,
+              0.07751050905887259,
+              1.2397346015021349
+            ],
+            "held_grasp_object_position": [
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+              0.09017146812752097,
+              1.2397346015021349
+            ],
+            "held_grasp_finger_gap": 0.027085121056326194,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024645707687363287,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06320889666403762,
+              -0.9972908257174079,
+              0.03762504913493092
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004025428837758815,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03226976216159913,
+            "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": [
+              0.2585047320876747,
+              -0.37993142134205754,
+              0.8470196951970186
+            ],
+            "target_position": [
+              0.2545042962984022,
+              -0.3806853583986039,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00407086079218218,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18280736335115677,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196951970186,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580218898814078,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08646127738341848,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15044490615366624,
+            "release_required_pad_clearance": 0.05323063869170924,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4809133498385247,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "16860df59f85d83745c8dc369c235b001a8db99763be5ed332c095300b3cf143",
+    "visual_seed": 6517894705461453469,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_43_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8fd8092b4a67b7d544d5b067ee85b3faaf51718
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_43_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.24169447848487915,
+              0.0846428772004223,
+              1.0471641354915626
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+            "gripper_z": 1.0515115398421109,
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+            "gripper_position": [
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+              0.07976639221901922,
+              1.0515115398421109
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+              0.00487648498140307,
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+            "object_to_gripper_z": -0.004347404350548256,
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+              0.06004884485101531,
+              1.0471641354915626
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+            "finger_b": [
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+              0.0846428772004223,
+              1.0471641354915626
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+              0.23579865062481234,
+              0.0723458610257188,
+              1.0471641354915626
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04853060317291964,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6232230018299996,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "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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+              0.08350827638993166,
+              1.242058457159754
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+              0.08796631482094217,
+              1.2375966123996311
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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": 0.00836057044297384,
+            "max_held_gripper_dist": 0.008362393594736828,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004461844760122791,
+            "max_held_gripper_z_dist": 0.004463953292167977,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08638748074538743,
+            "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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+              0.06242417158269061,
+              1.2375966123996311
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+              1.2375966123996311
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+              0.07519524320181639,
+              1.2375966123996311
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+            "held_grasp_object_position": [
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+              0.08796631482094217,
+              1.2375966123996311
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+            "held_grasp_finger_gap": 0.027381343868492974,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024871572106183737,
+            "held_grasp_world_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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+              -0.9979259213191501,
+              0.01500892144482302
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0041284074985348685,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03214684419540476,
+            "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": [
+              0.2641354834510863,
+              -0.378887245573973,
+              0.8470196116156152
+            ],
+            "target_position": [
+              0.2579950361939964,
+              -0.3807612393245357,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006420042452682915,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18722709874063181,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196116156152,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555653824307941,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08570346977698608,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1554877585254454,
+            "release_required_pad_clearance": 0.05285173488849304,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7465062427417469,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fbfcbfd5122350d1e4722524c918da90fc2bce4e09d5f12f5cb233a3b2af7cc2",
+    "visual_seed": 5644577952410016666,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_44_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d35c0c510688b76c7d5fa2606fbfeeb30d74ef92
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_44_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.06519694652794925,
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+              1.0473815971702962
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+              0.07749263302481646,
+              1.0473815971702962
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+            "fingertip_z_max_dist": 0.1,
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+              1.0
+            ],
+            "stable_success_frames": 215,
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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": [],
+            "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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+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "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": 0.008200063118711088,
+            "max_held_gripper_dist": 0.008201766823112785,
+            "held_gripper_max_dist": 0.15,
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+            "max_held_gripper_z_dist": 0.004415939523751078,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08666808266979015,
+            "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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+              1.237233230786513
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+              0.08055652308309039,
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+            "held_grasp_object_position": [
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+              0.09328331347134831,
+              1.237233230786513
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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": 0.02487714727282864,
+            "held_grasp_world_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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+              -0.9981735372387737,
+              0.02634290473808698
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004188477358132781,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032231707843137426,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": [
+              0.2634675220856788,
+              -0.38013685563289695,
+              0.8470197692930705
+            ],
+            "target_position": [
+              0.25754223198643833,
+              -0.38194353066074976,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006194605509346351,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18583301132980032,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197692930705,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556184929905033,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08581306041982618,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15409990144604288,
+            "release_required_pad_clearance": 0.052906530209913094,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8522512905952845,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "16035a702d2ad9970c6956bf28a327c578396078b49320792d486ca8739e1d6f",
+    "visual_seed": 3420769226083800023,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_45_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f45778489387d1f97610bc6525143481648de397
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_45_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.24258653993259327,
+              0.09107450743701703,
+              1.0455179508765073
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+            "current_z": 1.0455179508765073,
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+            "gripper_z": 1.0498308561707101,
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+            "gripper_position": [
+              0.23767999042592577,
+              0.08631999331365094,
+              1.0498308561707101
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+              0.0047545141233660965,
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+            "object_to_gripper_z": -0.004312905294202807,
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+              0.06675363597347157,
+              1.0455179508765073
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+            "finger_b": [
+              0.23089911142080316,
+              0.09107450743701703,
+              1.0455179508765073
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+            "finger_midpoint": [
+              0.23674282567669822,
+              0.07891407170524431,
+              1.0455179508765073
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+              0.012160435731772723,
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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": 0.812394121661978,
+            "object_to_finger_line_xy": 0.01053421926076612,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048620491768232396,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6953128509686404,
+            "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": [
+                {
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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": [
+              0.24245856890869158,
+              0.09003544190950774,
+              1.2416067694980284
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+            "held_position": [
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+              0.09433702221148844,
+              1.2371797339953812
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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": 0.008079743766386134,
+            "max_held_gripper_dist": 0.008083613456452534,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004427035502647225,
+            "max_held_gripper_z_dist": 0.004429908115536341,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08636705897206495,
+            "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": [
+              0.2476720152634907,
+              0.06894085862113092,
+              1.2371797339953812
+            ],
+            "held_grasp_finger_b": [
+              0.2381223252587827,
+              0.09433702221148844,
+              1.2371797339953812
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+            "held_grasp_midpoint": [
+              0.24289717026113672,
+              0.08163894041630967,
+              1.2371797339953812
+            ],
+            "held_grasp_object_position": [
+              0.2476720152634907,
+              0.09433702221148844,
+              1.2371797339953812
+            ],
+            "held_grasp_finger_gap": 0.027132300018506004,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024600689971960042,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07517146942201071,
+              -0.99694405070503,
+              0.021255821526869886
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038166287319934917,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03218201574965217,
+            "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": [
+              0.2649854218035481,
+              -0.3796425310537903,
+              0.8470195884210587
+            ],
+            "target_position": [
+              0.25865214350153015,
+              -0.3816214574157944,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006635251585060379,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18589666766884877,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195884210587,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566124832338919,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08516246087377784,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1539822639006195,
+            "release_required_pad_clearance": 0.05258123043688892,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.22728179929271083,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2c74e371eb33c8072cc7cef19b9951eb33ef8788edb773f79b95e610175432dd",
+    "visual_seed": 4084868636588790458,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_46_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a57f4a9e0bc31a405b28ee9690951e90db82bdd1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_46_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.24586110242901152,
+              0.09267895792522678,
+              1.0461932135548586
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+            "gripper_z": 1.0503438081997714,
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+            "gripper_position": [
+              0.24070447459917538,
+              0.08790263483035957,
+              1.0503438081997714
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+              0.005156627829836141,
+              0.00477632309486721,
+              -0.004150594644912742
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+            "object_to_gripper_z": -0.004150594644912742,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24586110242901152,
+              0.06798334846699353,
+              1.0461932135548586
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+            "finger_b": [
+              0.23439750909800855,
+              0.09267895792522678,
+              1.0461932135548586
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+            "finger_midpoint": [
+              0.24012930576351005,
+              0.08033115319611014,
+              1.0461932135548586
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+            "object_minus_finger_midpoint": [
+              0.005731796665501471,
+              0.012347804729116632,
+              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": 0.8227218950501982,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04793981578888974,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.29808550787289034,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "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": [
+              0.24536334005773647,
+              0.09161369224384992,
+              1.242054132551712
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+            "held_position": [
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+              0.09602396630688727,
+              1.237789758570319
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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": 0.008163259581662885,
+            "max_held_gripper_dist": 0.008169988463683636,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00426437398139301,
+            "max_held_gripper_z_dist": 0.004268292349194791,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08632050769517466,
+            "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": [
+              0.25074882093072537,
+              0.07056070744178985,
+              1.237789758570319
+            ],
+            "held_grasp_finger_b": [
+              0.2409608365085779,
+              0.09602396630688727,
+              1.237789758570319
+            ],
+            "held_grasp_midpoint": [
+              0.24585482871965164,
+              0.08329233687433857,
+              1.237789758570319
+            ],
+            "held_grasp_object_position": [
+              0.25074882093072537,
+              0.09602396630688727,
+              1.237789758570319
+            ],
+            "held_grasp_finger_gap": 0.027279702914056143,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02487075878316381,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05626308020330616,
+              -0.9983585003952931,
+              0.010713099201361098
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0041721977300190755,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03221414342165688,
+            "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": [
+              0.2661326738939408,
+              -0.37599353029819477,
+              0.8470195548997475
+            ],
+            "target_position": [
+              0.25904449716977984,
+              -0.37826440432230807,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007443058383912467,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18741468549968335,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195548997475,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518770020338401,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08499653551510929,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15677836795962913,
+            "release_required_pad_clearance": 0.052498267757554645,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.06852623341247656,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "02a318251185172dc911a6f1d4c660c84714a07b8b33f70269ef879bc64ff264",
+    "visual_seed": 8925219136483547878,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_47_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..da5f6f80a9598c3939dc9b8dd24b7fbaac2f0fae
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_47_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.24720169926312519,
+              0.08465464785946336,
+              1.0432555528976353
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+            "gripper_z": 1.0478032877210774,
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+            "gripper_position": [
+              0.24224076515004184,
+              0.07984797215180364,
+              1.0478032877210774
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+            "object_minus_gripper": [
+              0.004960934113083348,
+              0.004806675707659719,
+              -0.004547734823442173
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+            "object_to_gripper_xy": 0.006907604406229422,
+            "object_to_gripper_z": -0.004547734823442173,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24720169926312519,
+              0.06034728649176813,
+              1.0432555528976353
+            ],
+            "finger_b": [
+              0.23537096812930322,
+              0.08465464785946336,
+              1.0432555528976353
+            ],
+            "finger_midpoint": [
+              0.24128633369621422,
+              0.07250096717561574,
+              1.0432555528976353
+            ],
+            "object_minus_finger_midpoint": [
+              0.005915365566910968,
+              0.012153680683847617,
+              0.0
+            ],
+            "finger_gap": 0.027033572013711153,
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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": 0.8084790437364011,
+            "object_to_finger_line_xy": 0.010637656642932666,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0486122267637778,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7159745287484456,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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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": [
+              0.24708403900759945,
+              0.0832523352605533,
+              1.2415272305778116
+            ],
+            "held_position": [
+              0.25239546156706094,
+              0.08755848072907015,
+              1.2368737243987826
+            ],
+            "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": 0.008270986528791172,
+            "max_held_gripper_dist": 0.008275900212373311,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004653506179028932,
+            "max_held_gripper_z_dist": 0.004657032935094341,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08550701574777068,
+            "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": [
+              0.25239546156706094,
+              0.06213056358352025,
+              1.2368737243987826
+            ],
+            "held_grasp_finger_b": [
+              0.2427802618848144,
+              0.08755848072907015,
+              1.2368737243987826
+            ],
+            "held_grasp_midpoint": [
+              0.24758786172593766,
+              0.0748445221562952,
+              1.2368737243987826
+            ],
+            "held_grasp_object_position": [
+              0.25239546156706094,
+              0.08755848072907015,
+              1.2368737243987826
+            ],
+            "held_grasp_finger_gap": 0.027185125257949867,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02456452206843745,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0805051120413316,
+              -0.9964872329541532,
+              0.02306775876820555
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037801994020805665,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032143891203873017,
+            "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": [
+              0.26379737716941276,
+              -0.3752281534202241,
+              0.8470194020669719
+            ],
+            "target_position": [
+              0.2572202783814205,
+              -0.37709977422270313,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00683821562216942,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18854779321785783,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194020669719,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075227626127362,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0860134745519588,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15762216159872253,
+            "release_required_pad_clearance": 0.053006737275979404,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.04603872702264,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d6ae8feb42e57d003b5e42cc5d3f283ecba878c4386c890684d294174bf7be99",
+    "visual_seed": 945184570226771319,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_48_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bde7b5942a1980596ccc392657e6ae4b898e0a86
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_48_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24955479661942784,
+              0.08944836937533267,
+              1.046642362601486
+            ],
+            "current_z": 1.046642362601486,
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+            "initial_z": 0.7565866862224999,
+            "lift_margin": 0.19005567637898613,
+            "gripper_z": 1.0511236789362666,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24461126026235414,
+              0.08469003982383967,
+              1.0511236789362666
+            ],
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+              0.004943536357073702,
+              0.004758329551492996,
+              -0.00448131633478055
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+            "object_to_gripper_xy": 0.006861505070632905,
+            "object_to_gripper_z": -0.00448131633478055,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24955479661942784,
+              0.06507585294993855,
+              1.046642362601486
+            ],
+            "finger_b": [
+              0.23789530174529466,
+              0.08944836937533267,
+              1.046642362601486
+            ],
+            "finger_midpoint": [
+              0.24372504918236126,
+              0.07726211116263561,
+              1.046642362601486
+            ],
+            "object_minus_finger_midpoint": [
+              0.005829747437066574,
+              0.01218625821269706,
+              0.0
+            ],
+            "finger_gap": 0.02701783443627642,
+            "fingertip_max_gap": 0.09273732145525507,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013508917218138204,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046642362601486,
+            "object_top_z": 1.0931462508975613,
+            "finger_top_clearance": 0.046503888296075324,
+            "fingertip_min_top_clearance": 0.013951166488822596,
+            "object_projection_between_fingers": 0.8137662451477381,
+            "object_to_finger_line_xy": 0.01051791293642903,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048868660727627536,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8406468927987187,
+            "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/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": "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": [
+              0.24931477345788575,
+              0.08835652681404875,
+              1.2413093995272297
+            ],
+            "held_position": [
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+              0.09269320824725526,
+              1.236711427759033
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008195712850595996,
+            "max_held_gripper_dist": 0.008197695392599806,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0045979717681967625,
+            "max_held_gripper_z_dist": 0.004602076193178428,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08638105398922076,
+            "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": [
+              0.2545322018373819,
+              0.06729174566218195,
+              1.236711427759033
+            ],
+            "held_grasp_finger_b": [
+              0.24492975109493828,
+              0.09269320824725526,
+              1.236711427759033
+            ],
+            "held_grasp_midpoint": [
+              0.2497309764661601,
+              0.0799924769547186,
+              1.236711427759033
+            ],
+            "held_grasp_object_position": [
+              0.2545322018373819,
+              0.09269320824725526,
+              1.236711427759033
+            ],
+            "held_grasp_finger_gap": 0.02715587158833123,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02466066710464805,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07000545073356489,
+              -0.9973004866226115,
+              0.022157983886011534
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003910733988380399,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03219766752111513,
+            "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": [
+              0.25912825214355595,
+              -0.3747682011835449,
+              0.8470193936773776
+            ],
+            "target_position": [
+              0.25297194305907567,
+              -0.3768157605301952,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00648788415600259,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18498272118960193,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193936773776,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573603932502458,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08530438842682235,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15300070426383888,
+            "release_required_pad_clearance": 0.05265219421341118,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3626162804404768,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "533493929e844b6d1b0ffd93443ce2eaef3cd8669a8a753150206c197e35595e",
+    "visual_seed": 2593686310555986691,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_49_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..292d4db6145a6a8a1804845419b9aa450ce3df4c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_49_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.24882438538014398,
+              0.0964745332784212,
+              1.0459395919114869
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+            "current_z": 1.0459395919114869,
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+            "lift_margin": 0.18935302489827655,
+            "gripper_z": 1.0502340504896568,
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+            "gripper_position": [
+              0.24359293225807938,
+              0.09167243029204362,
+              1.0502340504896568
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+              0.0052314531220646054,
+              0.004802102986377579,
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+            "object_to_gripper_xy": 0.007101288253559066,
+            "object_to_gripper_z": -0.004294458578169902,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24882438538014398,
+              0.07171645410219893,
+              1.0459395919114869
+            ],
+            "finger_b": [
+              0.2373295697075195,
+              0.0964745332784212,
+              1.0459395919114869
+            ],
+            "finger_midpoint": [
+              0.24307697754383173,
+              0.08409549369031007,
+              1.0459395919114869
+            ],
+            "object_minus_finger_midpoint": [
+              0.005747407836312252,
+              0.012379039588111138,
+              0.0
+            ],
+            "finger_gap": 0.027296396682414042,
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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": 1.092537148728828,
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+            "fingertip_min_top_clearance": 0.01397926704520237,
+            "object_projection_between_fingers": 0.8226654402331929,
+            "object_to_finger_line_xy": 0.010425901991755079,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04919167711252531,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.063945155670844,
+            "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",
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+                "wrist_2_joint",
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+              ],
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+                "base_link",
+                "caster",
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+                "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": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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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": [
+              0.24843922062610008,
+              0.09530618745882508,
+              1.2412682089372922
+            ],
+            "held_position": [
+              0.25390452890948334,
+              0.09971822980298142,
+              1.2368510035174132
+            ],
+            "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": 0.008297434302268068,
+            "max_held_gripper_dist": 0.008300558142867363,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004417205419879,
+            "max_held_gripper_z_dist": 0.004423432646418979,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08656990224116402,
+            "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": [
+              0.25390452890948334,
+              0.07418979395301845,
+              1.2368510035174132
+            ],
+            "held_grasp_finger_b": [
+              0.24416051262319946,
+              0.09971822980298142,
+              1.2368510035174132
+            ],
+            "held_grasp_midpoint": [
+              0.24903252076634141,
+              0.08695401187799993,
+              1.2368510035174132
+            ],
+            "held_grasp_object_position": [
+              0.25390452890948334,
+              0.09971822980298142,
+              1.2368510035174132
+            ],
+            "held_grasp_finger_gap": 0.027324840170310977,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024987173166594358,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05127224736297265,
+              -0.9983678956958306,
+              0.025153558281670436
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004223610660979449,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03220704076917442,
+            "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": [
+              0.26630251607894273,
+              -0.3807878471951429,
+              0.8470195527484607
+            ],
+            "target_position": [
+              0.2609902825831941,
+              -0.3820773402257528,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005466499518827833,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18436814190526019,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195527484607,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561893171170735,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08682588806496623,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1525890198306779,
+            "release_required_pad_clearance": 0.05341294403248312,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.840521835789398,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e4e1f6869c5a8b1682de2544d93d27c1a18e9d0108a4537d38750866a2ecfb1f",
+    "visual_seed": 5586274820740621201,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_50_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..34262ab551bef9d54330faca713bfd3e9aebfb73
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_50_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.0858603436566063,
+              1.0458678805593777
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+            "lift_margin": 0.18928143275545684,
+            "gripper_z": 1.050275801020701,
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+            "gripper_position": [
+              0.23586505831312993,
+              0.0811592218298375,
+              1.050275801020701
+            ],
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+              0.004845036625993754,
+              0.004701121826768809,
+              -0.0044079204613232115
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+            "object_to_gripper_xy": 0.00675092040668108,
+            "object_to_gripper_z": -0.0044079204613232115,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24071009493912368,
+              0.06155252744081547,
+              1.0458678805593777
+            ],
+            "finger_b": [
+              0.22914095399225617,
+              0.0858603436566063,
+              1.0458678805593777
+            ],
+            "finger_midpoint": [
+              0.23492552446568993,
+              0.07370643554871088,
+              1.0458678805593777
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+              0.005784570473433753,
+              0.01215390810789542,
+              0.0
+            ],
+            "finger_gap": 0.026920530296209808,
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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": 1.0922221013012374,
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+            "fingertip_min_top_clearance": 0.01390626622255789,
+            "object_projection_between_fingers": 0.8153135629608003,
+            "object_to_finger_line_xy": 0.010446322892481414,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04884095545579807,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8153425672876361,
+            "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/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": [
+              0.2406224409562533,
+              0.08493748373606312,
+              1.241613205238504
+            ],
+            "held_position": [
+              0.24576125021875542,
+              0.08920528053922444,
+              1.2370985415956186
+            ],
+            "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": 0.008062483364190172,
+            "max_held_gripper_dist": 0.008066270230717768,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004514663642885441,
+            "max_held_gripper_z_dist": 0.0045177610105355814,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08635891030076748,
+            "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": [
+              0.24576125021875542,
+              0.0638445452719108,
+              1.2370985415956186
+            ],
+            "held_grasp_finger_b": [
+              0.23626560896175722,
+              0.08920528053922444,
+              1.2370985415956186
+            ],
+            "held_grasp_midpoint": [
+              0.24101342959025632,
+              0.07652491290556762,
+              1.2370985415956186
+            ],
+            "held_grasp_object_position": [
+              0.24576125021875542,
+              0.08920528053922444,
+              1.2370985415956186
+            ],
+            "held_grasp_finger_gap": 0.027080142100446448,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0246328025066912,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06958453770134865,
+              -0.9973509067119614,
+              0.021193418641606954
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003863557221119981,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032223073905419106,
+            "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": [
+              0.265356228285653,
+              -0.3725089756076561,
+              0.8470196561616959
+            ],
+            "target_position": [
+              0.2592840539244856,
+              -0.374427662437154,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006368097095844786,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1858941533553873,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196561616959,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587415737127465,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08579539497895965,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15342265021852705,
+            "release_required_pad_clearance": 0.052897697489479825,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8346196006399113,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b186a775c8dc2ec927a6768c89d52903faebeccbbc3ceea857ba793cc68a2d01",
+    "visual_seed": 4162463923968429628,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_51_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5059fdc11e26010030a9d52ccdb88cc2e78b601
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_51_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2408224412520899,
+              0.09307788351399938,
+              1.0440943485335932
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+            "current_z": 1.0440943485335932,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.18750796033431716,
+            "gripper_z": 1.0484311782198557,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.23610799680985467,
+              0.08842665704687065,
+              1.0484311782198557
+            ],
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+              0.004714444442235233,
+              0.004651226467128733,
+              -0.004336829686262478
+            ],
+            "object_to_gripper_xy": 0.006622680276703799,
+            "object_to_gripper_z": -0.004336829686262478,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2408224412520899,
+              0.06887866194877082,
+              1.0440943485335932
+            ],
+            "finger_b": [
+              0.22930121325633246,
+              0.09307788351399938,
+              1.0440943485335932
+            ],
+            "finger_midpoint": [
+              0.23506182725421118,
+              0.08097827273138511,
+              1.0440943485335932
+            ],
+            "object_minus_finger_midpoint": [
+              0.005760613997878722,
+              0.012099610782614276,
+              0.0
+            ],
+            "finger_gap": 0.02680188461457978,
+            "fingertip_max_gap": 0.09292932053688191,
+            "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": 1.0440943485335932,
+            "object_top_z": 1.0907408701775794,
+            "finger_top_clearance": 0.046646521643986194,
+            "fingertip_min_top_clearance": 0.013993956493195858,
+            "object_projection_between_fingers": 0.8152149312944202,
+            "object_to_finger_line_xy": 0.010402430761200414,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04896466026844096,
+            "require_object_upright": true,
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+          },
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+                "dummy_base_revolute_z_joint",
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+                "finger",
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+                "fr3_duo_mobile",
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+                "fr3_joint3",
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+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
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+                "gripper",
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+                "left_inner_finger",
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+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
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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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+                {
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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
+      },
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+        "skill": "pick",
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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": [
+              0.24090391720305313,
+              0.0920552260837254,
+              1.2402464565934446
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+              0.2459270954586963,
+              0.09625497427173553,
+              1.2357967934812668
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007916420052178642,
+            "max_held_gripper_dist": 0.00792022810585719,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00444966311217776,
+            "max_held_gripper_z_dist": 0.004453137478327873,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08632044324552943,
+            "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": [
+              0.2459270954586963,
+              0.07093714954636321,
+              1.2357967934812668
+            ],
+            "held_grasp_finger_b": [
+              0.2366115893085383,
+              0.09625497427173553,
+              1.2357967934812668
+            ],
+            "held_grasp_midpoint": [
+              0.2412693423836173,
+              0.08359606190904936,
+              1.2357967934812668
+            ],
+            "held_grasp_object_position": [
+              0.2459270954586963,
+              0.09625497427173553,
+              1.2357967934812668
+            ],
+            "held_grasp_finger_gap": 0.02697722935474111,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024509531888018944,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07758952056137605,
+              -0.9966226489714822,
+              0.02689166889803607
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036777548020846835,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032222673365823996,
+            "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": [
+              0.26558669529177104,
+              -0.3796202990264985,
+              0.847019598188655
+            ],
+            "target_position": [
+              0.2597214599097114,
+              -0.3812092706208423,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006076661650494919,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1850448360990183,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019598188655,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518712172527864,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0859173707800238,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1542141401825158,
+            "release_required_pad_clearance": 0.0529586853900119,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9528464234668117,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ec07e5caefe81ccfa40544301c5c199ef606642d6f627628ee412fcbd3f97bb0",
+    "visual_seed": 6828022006422210614,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_53_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..401329512bd58b2f6614a520d77f7e1252b8f63c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_53_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.2402354431259764,
+              0.0873863278375724,
+              1.0454184971527194
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+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1888320493487986,
+            "gripper_z": 1.0498834709998024,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.23525790683299366,
+              0.0825706793334492,
+              1.0498834709998024
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+              0.004977536292982726,
+              0.004815648504123193,
+              -0.004464973847082998
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+            "object_to_gripper_xy": 0.00692577346317537,
+            "object_to_gripper_z": -0.004464973847082998,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2402354431259764,
+              0.0630691709320502,
+              1.0454184971527194
+            ],
+            "finger_b": [
+              0.22838666762815957,
+              0.0873863278375724,
+              1.0454184971527194
+            ],
+            "finger_midpoint": [
+              0.23431105537706798,
+              0.0752277493848113,
+              1.0454184971527194
+            ],
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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",
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+                "defaultgroundplane",
+                "desk",
+                "floor",
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+                "link0",
+                "table",
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+                "workbench"
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+            },
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+            "last_frame": {
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+              "source_missing": false,
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+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2401217584151187,
+              0.08610817569715676,
+              1.240905408048304
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+            "held_position": [
+              0.24543649660062566,
+              0.0904315859248703,
+              1.2363239538670612
+            ],
+            "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": 0.008241846904208476,
+            "max_held_gripper_dist": 0.008245817159317874,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004581454181242783,
+            "max_held_gripper_z_dist": 0.004584132041865585,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08651431370504503,
+            "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": [
+              0.24543649660062566,
+              0.06495065474105845,
+              1.2363239538670612
+            ],
+            "held_grasp_finger_b": [
+              0.2358744801085157,
+              0.0904315859248703,
+              1.2363239538670612
+            ],
+            "held_grasp_midpoint": [
+              0.24065548835457068,
+              0.07769112033296438,
+              1.2363239538670612
+            ],
+            "held_grasp_object_position": [
+              0.24543649660062566,
+              0.0904315859248703,
+              1.2363239538670612
+            ],
+            "held_grasp_finger_gap": 0.02721598819424969,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024621462031474643,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08043704468191883,
+              -0.9964550430335332,
+              0.024642018096716733
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003754260041611998,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03212035360224836,
+            "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": [
+              0.2566974604787547,
+              -0.3779471492187112,
+              0.8470191076354896
+            ],
+            "target_position": [
+              0.25146432226260057,
+              -0.3791375072917832,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005366813573387882,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18678641669794438,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470191076354896,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549731593024597,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08532891178836803,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15508487612254745,
+            "release_required_pad_clearance": 0.05266445589418402,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.38562842211944376,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "667ec85fed18ff96da40885cd56ae6f605ae429a86b773f92c5ed3a00cfc7b6d",
+    "visual_seed": 7989609985352949091,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_54_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cacc9a54057bb094cdb3f8637ea08f3abd87d078
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_54_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24233230436933778,
+              0.08680444757603654,
+              1.0450785522317887
+            ],
+            "current_z": 1.0450785522317887,
+            "required_z": 0.8565865074085653,
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+                "panda_rightfingertip",
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+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
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+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_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"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      }
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+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
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+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
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+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.24713253393815635,
+              0.06511129245111101,
+              1.235187146365005
+            ],
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+              0.09048640495005984,
+              1.235187146365005
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+            ],
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+              0.09048640495005984,
+              1.235187146365005
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02487373859929246,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04784739968118796,
+              -0.9984768083678224,
+              0.02747161253650166
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042374181799355705,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03230063292553214,
+            "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": [
+              0.26220109486885546,
+              -0.3725955440632644,
+              0.8470195840559318
+            ],
+            "target_position": [
+              0.2568071719915452,
+              -0.37422760712220254,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005635426677255389,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18485673118780185,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195840559318,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524594511934439,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08510972976149962,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15393309045800402,
+            "release_required_pad_clearance": 0.05255486488074981,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.17693860412461665,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9cecad8997edb96413fccbd0d4424b150a8602694376c2d2eb551b70df8e5489",
+    "visual_seed": 7416733949884973029,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_55_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1150661cafc7b5ff417c0a6bce17ad928fd9f7c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_55_success.json
@@ -0,0 +1,686 @@
+{
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+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "80ba0d116ebcf8103b03582cd2566cb4cc7e53b9ea98067628549d0e24851094",
+    "visual_seed": 7037662746193780908,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_56_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..07e1fc17184d0e49c6e1c5e3e3fed56a478d3a37
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_56_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+              0.07175421208016636,
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+              1.0
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+            "stable_success_frames": 214,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "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,
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+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+              0.08304622239619873,
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+              0.08756570892101011,
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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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+          "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"
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+              "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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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
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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_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15484722457491903,
+            "release_required_pad_clearance": 0.052735020849239436,
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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": 0.5218944467333321,
+            "object_max_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
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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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "17ed09a9249ab65c7a47e7230a40308ac90a1ff6de8c44a5f775ad0f697a0aa8",
+    "visual_seed": 8888021992507970988,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_57_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c77f65ebfa92b2f33fe2bb6dd512aecd74915983
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_57_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              0.08435971350483534,
+              1.0449709025173515
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+            "lift_margin": 0.18838451431807546,
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+              0.07953487803744794,
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+              0.004824835467387406,
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+              0.059594504864670536,
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+              1.0449709025173515
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+              0.07197710918475295,
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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"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
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+                  "b": "/World/target_beaker/mesh"
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+          }
+        },
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+        "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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+              0.08290415589460855,
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+              0.08732179938799743,
+              1.2361270388338028
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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": 0.004592125044268647,
+            "max_held_gripper_z_dist": 0.004595159993365794,
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+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_object_position": [
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+              0.08732179938799743,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004116233906000482,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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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
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08682976621296058,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15395009315452293,
+            "release_required_pad_clearance": 0.05341488310648029,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8379638027178942,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "299d3487f066691a8ef45b1e1c1fdd9a3d89e1625381b155bcbcae0d3b28bf5c",
+    "visual_seed": 8697515297715452274,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_58_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..483e353747d9ebd9e04fd68fcef5d4031cba46bb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_58_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.09011458182724678,
+              1.0448996705550686
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+            "lift_margin": 0.18831316314650304,
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+              0.08549850397474683,
+              1.0492403018320011
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+              0.004616077852499956,
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+              0.06571828042141688,
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+              1.0448996705550686
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+              0.07791643112433183,
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+              0.012198150702914953,
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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": 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",
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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"
+                }
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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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+              0.08909455621450572,
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+              0.09331231618021825,
+              1.2361301459041631
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007944406221680024,
+            "max_held_gripper_dist": 0.007947119678543304,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004451888744529731,
+            "max_held_gripper_z_dist": 0.004457114112590865,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08648529483743553,
+            "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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+              0.06797163920730312,
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+              0.09331231618021825,
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+              0.08064197769376069,
+              1.2361301459041631
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+            "held_grasp_object_position": [
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+              0.09331231618021825,
+              1.2361301459041631
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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": 0.024905237356879894,
+            "held_grasp_world_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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+              -0.9981704065307165,
+              0.043810676647337614
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004174051273709115,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+        },
+        "gripper": null,
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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_fingertip_source": "active_contact_pad_positions",
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+            "release_fingertip_min_gap": 0.08796445161651632,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15105219595570804,
+            "release_required_pad_clearance": 0.053982225808258164,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.9750740251854224,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "49ddc0b7940d9c34aea160c1ed8f9753975212407c5f6bbddd5d7ec81f97b131",
+    "visual_seed": 4107488931699742110,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_59_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..97343fd4e03f0db9124404590ee1f79b2fe62360
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_59_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.0928099452360445,
+              1.0451547616048316
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+            "gripper_z": 1.0495483872810814,
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+            "gripper_position": [
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+              0.0880520569011449,
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+              0.004757888334899596,
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+            "object_to_gripper_z": -0.0043936256762497905,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.0684175189456315,
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+              1.0451547616048316
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+              0.080613732090838,
+              1.0451547616048316
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+              0.012196213145206497,
+              0.0
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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": 0.048686189299160174,
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
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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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+        "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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+              0.09179917603151137,
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+              0.0961279614731866,
+              1.2352233400994428
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008151691424977651,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004515500187415533,
+            "max_held_gripper_z_dist": 0.004518459083749704,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08631257814508057,
+            "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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+              0.08341361802225536,
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+            "held_grasp_object_position": [
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+              0.0961279614731866,
+              1.2352233400994428
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+            "held_grasp_finger_gap": 0.027162618473471845,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024639689409584786,
+            "held_grasp_world_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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+              -0.9969539924893941,
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003825563176624187,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+            "min_z_margin": 0.2,
+            "require_object_upright": true,
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+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519625943751855,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08567026690394262,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15252346249739995,
+            "release_required_pad_clearance": 0.052835133451971314,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7143600731411799,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1e9bb95f118071a01ca57a437908e352edabc810ae0f5a8254d920dbd84e29d8",
+    "visual_seed": 175803610406630377,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_5_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8723722311b914d9611f80732d2dae4fe48aa3d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_5_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 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": [
+              0.24255842336927344,
+              0.0897041049489082,
+              1.0463284828903678
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+            "current_z": 1.0463284828903678,
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+            "lift_margin": 0.18974209469109182,
+            "gripper_z": 1.0506301047085862,
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+            "gripper_position": [
+              0.23759582658110825,
+              0.08496268979319094,
+              1.0506301047085862
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+              0.004962596788165186,
+              0.004741415155717257,
+              -0.00430162181821836
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+            "object_to_gripper_xy": 0.0068635548049660626,
+            "object_to_gripper_z": -0.00430162181821836,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24255842336927344,
+              0.06527704565589562,
+              1.0463284828903678
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+            "finger_b": [
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+              0.0897041049489082,
+              1.0463284828903678
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+            "finger_midpoint": [
+              0.23676538099942698,
+              0.07749057530240192,
+              1.0463284828903678
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+              0.01221352964650628,
+              0.0
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+            "finger_gap": 0.027035506011534108,
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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": 0.048585863317731695,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7244700806391488,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "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": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.08869304407983,
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+              0.09300360692661011,
+              1.2376409043655463
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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": 0.00810046669375675,
+            "max_held_gripper_dist": 0.008104555751014425,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004418593101922053,
+            "max_held_gripper_z_dist": 0.004421773666814399,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08652254577202387,
+            "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": [
+              0.2476608201005316,
+              0.0675705253930057,
+              1.2376409043655463
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+              0.09300360692661011,
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+              0.08028706615980791,
+              1.2376409043655463
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+            "held_grasp_object_position": [
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+              0.09300360692661011,
+              1.2376409043655463
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+            "held_grasp_finger_gap": 0.027162741590172772,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02463809641170305,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07513933436190198,
+              -0.9969210056003668,
+              0.022418497371675002
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038109718027492237,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03216449995366527,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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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": [
+              0.2637336260164205,
+              -0.37604605416584685,
+              0.8470195619914598
+            ],
+            "target_position": [
+              0.25738241049566196,
+              -0.37800447880468874,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006646304661776106,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18635767206234743,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195619914598,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575279050537488,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08537993001043485,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1541083751075496,
+            "release_required_pad_clearance": 0.05268996500521743,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4352117163196747,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "caa974cccd4bec1373dac52cd3ffef3707ab91e5c08cb8e0e46585d3908b45d9",
+    "visual_seed": 8566119544169193719,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_60_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5cce2716734c03203a8f7861339678b734df3f8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_60_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.24169747421073864,
+              0.09406315061301886,
+              1.0463941794013425
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+            "current_z": 1.0463941794013425,
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+            "lift_margin": 0.18980767199277682,
+            "gripper_z": 1.0507656676831787,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23658765447054847,
+              0.08924958296693132,
+              1.0507656676831787
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+              0.005109819740190175,
+              0.004813567646087535,
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+            ],
+            "object_to_gripper_xy": 0.0070200207450333,
+            "object_to_gripper_z": -0.0043714882818362,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24169747421073864,
+              0.06953096629845598,
+              1.0463941794013425
+            ],
+            "finger_b": [
+              0.23001062664001393,
+              0.09406315061301886,
+              1.0463941794013425
+            ],
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+              0.23585405042537627,
+              0.08179705845573743,
+              1.0463941794013425
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+              0.005843423785362373,
+              0.01226609215728143,
+              0.0
+            ],
+            "finger_gap": 0.027173709231259523,
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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": 0.010550782604658457,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048831746251118496,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7887372200965936,
+            "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": [
+                {
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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": [
+              0.24127844632136053,
+              0.09308235145188407,
+              1.2410507483831574
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+            "held_position": [
+              0.24664306810291328,
+              0.09748631190197334,
+              1.2365563136907016
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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": 0.008268855888804149,
+            "max_held_gripper_dist": 0.008273625985192507,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0044944346924558065,
+            "max_held_gripper_z_dist": 0.004497211712963134,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08624957147209564,
+            "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": [
+              0.24664306810291328,
+              0.07200930308912021,
+              1.2365563136907016
+            ],
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+              0.09748631190197334,
+              1.2365563136907016
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+            "held_grasp_midpoint": [
+              0.24177832496082952,
+              0.08474780749554678,
+              1.2365563136907016
+            ],
+            "held_grasp_object_position": [
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+              0.09748631190197334,
+              1.2365563136907016
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+            "held_grasp_finger_gap": 0.02727161310601191,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024785642261395555,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06494058106276279,
+              -0.9976634596644046,
+              0.02122126720254325
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004036516077596308,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03217556534237698,
+            "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": [
+              0.2627719862494432,
+              -0.3757823788718272,
+              0.8470193449935931
+            ],
+            "target_position": [
+              0.2565235581952206,
+              -0.3777560683105533,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006552732494870747,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18715437178382074,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193449935931,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545433161974484,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08498303689699772,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1557476045707127,
+            "release_required_pad_clearance": 0.052491518448498864,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.05595202564565571,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cb4c84facad4c52327b8072b4a2952c4c52bdbd74b7d7c12189cbf4614d78bf6",
+    "visual_seed": 1519647772096845851,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_61_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dff96b3c24d1f62cc5c006d3fb4c29e9c7c12d35
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_61_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.08244394032966415,
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+              0.0049358812594521295,
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+              0.06246059995656056,
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+              0.08737982158911628,
+              1.0454485985375632
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+              0.07492021077283842,
+              1.0454485985375632
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010608470299842456,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04865277380726571,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "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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+              0.08635776910140792,
+              1.2434001563675434
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+            "held_position": [
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+              0.09090456986549214,
+              1.2384555612063064
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008842648449592691,
+            "max_held_gripper_dist": 0.008845523567405722,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00494459516123702,
+            "max_held_gripper_z_dist": 0.004952941733151306,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08647003973818446,
+            "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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+              0.06530746723914918,
+              1.2384555612063064
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+              0.09090456986549214,
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+              0.07810601855232066,
+              1.2384555612063064
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+            "held_grasp_object_position": [
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+              0.09090456986549214,
+              1.2384555612063064
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+            "held_grasp_finger_gap": 0.027544313837204678,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0252059306575173,
+            "held_grasp_world_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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+              -0.9992258770533435,
+              0.014660654313809363
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004619445314175694,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03222590297273743,
+            "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": [
+              0.2650396813222714,
+              -0.37344899480139704,
+              0.8470194968772893
+            ],
+            "target_position": [
+              0.25815191897798384,
+              -0.375767677156778,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007267568917907879,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1840163908984092,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194968772893,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539743595755903,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08702051474861501,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15288015756254564,
+            "release_required_pad_clearance": 0.05351025737430751,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0321265796744328,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ad2b4b1f5ac4445d9e46af2511d8da4934f9e58eed911caf8456ea04b6a9af4a",
+    "visual_seed": 1381529934219434231,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_62_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dcf6ccfe884ca0a593f79b32e350dd3963af3d1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_62_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.24305366635728534,
+              0.08847963913784929,
+              1.0448717214767007
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+            "gripper_z": 1.0492071322735543,
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+            "gripper_position": [
+              0.23785629617461387,
+              0.08362766992630338,
+              1.0492071322735543
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+              0.005197370182671468,
+              0.0048519692115459034,
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+            "object_to_gripper_z": -0.004335410796853623,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24305366635728534,
+              0.06387936651533764,
+              1.0448717214767007
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+            "finger_b": [
+              0.23132150869373147,
+              0.08847963913784929,
+              1.0448717214767007
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+            "finger_midpoint": [
+              0.2371875875255084,
+              0.07617950282659347,
+              1.0448717214767007
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+              0.012300136311255816,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.01058953553472173,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04851795307731252,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6376608965063613,
+            "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": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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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": [
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+              0.08741413008262218,
+              1.2405127368310744
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+            "held_position": [
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+              0.09185649098639055,
+              1.2360600386443554
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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": 0.008327458801137558,
+            "max_held_gripper_dist": 0.008329084655828432,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004452698186719006,
+            "max_held_gripper_z_dist": 0.004455301532732658,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08635276061104888,
+            "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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+              0.0663400473092507,
+              1.2360600386443554
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+              0.09185649098639055,
+              1.2360600386443554
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+              0.07909826914782062,
+              1.2360600386443554
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+            "held_grasp_object_position": [
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+              0.09185649098639055,
+              1.2360600386443554
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+            "held_grasp_finger_gap": 0.027346940958900876,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024872154949106065,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06045237417404018,
+              -0.998055387100804,
+              0.015197194997308316
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004142877994261268,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03216947836874012,
+            "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": [
+              0.26058997636784054,
+              -0.3763604876871358,
+              0.8470211039362343
+            ],
+            "target_position": [
+              0.25429969104483047,
+              -0.37826051011098644,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006570979733343506,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1856943212646446,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470211039362343,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535217557822493,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08520648246894615,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15441312125431314,
+            "release_required_pad_clearance": 0.052603241234473075,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2624000940678789,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f0eeda5b24dfc03eb8368325a27bfd40f04718e887501550df206f146538a131",
+    "visual_seed": 5080056293074967235,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_63_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9da6058356a892dd7a59fafb2c1a2c2cdfa0bbba
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_63_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.09530054358342405,
+              1.0436667798345367
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+            "gripper_z": 1.0480282505758225,
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+            "gripper_position": [
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+              0.09077920603290135,
+              1.0480282505758225
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+              0.004521337550522697,
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+            "object_to_gripper_z": -0.004361470741285789,
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+              0.07120954706172236,
+              1.0436667798345367
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+            "finger_b": [
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+              0.09530054358342405,
+              1.0436667798345367
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+              0.2401382069068383,
+              0.0832550453225732,
+              1.0436667798345367
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+              0.012045498260850843,
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+            "object_to_finger_line_xy": 0.010233876314167917,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049984056552184505,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.804577118387122,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              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": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "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"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "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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+              0.09410867086364201,
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+            "held_position": [
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+              0.09817833539592627,
+              1.2351140641177591
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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": 0.007736322364800594,
+            "max_held_gripper_dist": 0.007738430624062699,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0044751126773889816,
+            "max_held_gripper_z_dist": 0.0044774059049115245,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08545200568553274,
+            "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": [
+              0.2510410912621335,
+              0.07294308697216975,
+              1.2351140641177591
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+            "held_grasp_finger_b": [
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+              0.09817833539592627,
+              1.2351140641177591
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+            "held_grasp_midpoint": [
+              0.2465276786141064,
+              0.08556071118404801,
+              1.2351140641177591
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+            "held_grasp_object_position": [
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+              0.09817833539592627,
+              1.2351140641177591
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+            "held_grasp_finger_gap": 0.026801144340012586,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024394614606964505,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08125505576012736,
+              -0.9957536132704236,
+              0.043270747304783086
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003517129300753706,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03226944246956072,
+            "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": [
+              0.2632398628578916,
+              -0.3780814955969498,
+              0.847019527001021
+            ],
+            "target_position": [
+              0.25980458606250245,
+              -0.3780824488181881,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0034352769276391306,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1837449759368384,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019527001021,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546065933922072,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08679012217476585,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15194692577395746,
+            "release_required_pad_clearance": 0.05339506108738293,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8048794533044774,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4947e17d31d0b918303d090bf136b2f9d22e7f31effe08ee07fe3c9562b338d5",
+    "visual_seed": 2742867063627636262,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_64_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cebfbdbbaeab250d9e5426db0e2e8636d47948fd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_64_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.24616538607034832,
+              0.09315103810214169,
+              1.046992214253368
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+            "gripper_z": 1.0513972194211492,
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+            "gripper_position": [
+              0.241307299647347,
+              0.08847612533561479,
+              1.0513972194211492
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+              0.004858086423001312,
+              0.004674912766526901,
+              -0.004405005167781084
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+            "object_to_gripper_z": -0.004405005167781084,
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+              0.24616538607034832,
+              0.06877752726203748,
+              1.046992214253368
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+            "finger_b": [
+              0.23469531197274832,
+              0.09315103810214169,
+              1.046992214253368
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+            "finger_midpoint": [
+              0.2404303490215483,
+              0.08096428268208958,
+              1.046992214253368
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+              0.005735037048800018,
+              0.012186755420052112,
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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": 0.8186920531208414,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048851142337756004,
+            "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": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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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,
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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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+              0.09210421512611762,
+              1.2429006782678202
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+              0.09635069864794284,
+              1.2383811765109976
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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": 0.008055016916117982,
+            "max_held_gripper_dist": 0.008059208125486118,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004519501756822697,
+            "max_held_gripper_z_dist": 0.0045233104605593155,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08649389317276758,
+            "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": [
+              0.2513140120316528,
+              0.07098527048076039,
+              1.2383811765109976
+            ],
+            "held_grasp_finger_b": [
+              0.24188665348544564,
+              0.09635069864794284,
+              1.2383811765109976
+            ],
+            "held_grasp_midpoint": [
+              0.24660033275854923,
+              0.08366798456435162,
+              1.2383811765109976
+            ],
+            "held_grasp_object_position": [
+              0.2513140120316528,
+              0.09635069864794284,
+              1.2383811765109976
+            ],
+            "held_grasp_finger_gap": 0.02706067322265354,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024588993674638362,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07403720184516417,
+              -0.9969068432641986,
+              0.02636737749471929
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003776993240614222,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03220775288093932,
+            "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": [
+              0.2562226361208193,
+              -0.3822253317876011,
+              0.8470195526210401
+            ],
+            "target_position": [
+              0.2512914515976648,
+              -0.3833691928547907,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005062114078369886,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1865875299606809,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195526210401,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590250313312674,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08600944574135287,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15391435455790356,
+            "release_required_pad_clearance": 0.05300472287067644,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0422908058148175,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "49ebc51156505a4f34c2f43f98a95bf811a908b449f299089cdbab1f26b27df7",
+    "visual_seed": 204626889342263878,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_65_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..27034cd683042e0581ef9d3076c3c187657f0c02
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_65_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.24877877132247417,
+              0.08999219611375198,
+              1.0458921032259176
+            ],
+            "current_z": 1.0458921032259176,
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+            "lift_margin": 0.18930565542199684,
+            "gripper_z": 1.050428636898589,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24395348622955296,
+              0.08531516007520028,
+              1.050428636898589
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+              0.004825285092921211,
+              0.004677036038551699,
+              -0.004536533672671261
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+            "object_to_gripper_xy": 0.0067199733878847345,
+            "object_to_gripper_z": -0.004536533672671261,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24877877132247417,
+              0.06567651622037345,
+              1.0458921032259176
+            ],
+            "finger_b": [
+              0.23726315220761493,
+              0.08999219611375198,
+              1.0458921032259176
+            ],
+            "finger_midpoint": [
+              0.24302096176504456,
+              0.07783435616706272,
+              1.0458921032259176
+            ],
+            "object_minus_finger_midpoint": [
+              0.005757809557429605,
+              0.012157839946689258,
+              0.0
+            ],
+            "finger_gap": 0.026904679375078313,
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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": 1.0927156769823916,
+            "finger_top_clearance": 0.046823573756473946,
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+            "object_projection_between_fingers": 0.8168027534019406,
+            "object_to_finger_line_xy": 0.010407487272654883,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04902752549632061,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.056078030958343,
+            "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": [
+                {
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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,
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+            "gripper_position": [
+              0.24875115324003957,
+              0.0888511853605778,
+              1.242081755509625
+            ],
+            "held_position": [
+              0.25386374307166715,
+              0.09309213056899479,
+              1.2374340415123186
+            ],
+            "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": 0.008107122575119672,
+            "max_held_gripper_dist": 0.00811005218708383,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004647713997306457,
+            "max_held_gripper_z_dist": 0.004651022136781036,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08648160557687976,
+            "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": [
+              0.25386374307166715,
+              0.067748493449965,
+              1.2374340415123186
+            ],
+            "held_grasp_finger_b": [
+              0.24442781208792214,
+              0.09309213056899479,
+              1.2374340415123186
+            ],
+            "held_grasp_midpoint": [
+              0.24914577757979464,
+              0.0804203120094799,
+              1.2374340415123186
+            ],
+            "held_grasp_object_position": [
+              0.25386374307166715,
+              0.09309213056899479,
+              1.2374340415123186
+            ],
+            "held_grasp_finger_gap": 0.027043238266728775,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024543166482987204,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07594113222728842,
+              -0.9966896877064483,
+              0.029027760086856473
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003760574709103781,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03221206644179302,
+            "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": [
+              0.26606533241923136,
+              -0.3748313799898546,
+              0.8470194073856947
+            ],
+            "target_position": [
+              0.26066085214932094,
+              -0.37610732676562064,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005553057460754274,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18406707618192822,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194073856947,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755447390756442,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08506874303366026,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15233311347248005,
+            "release_required_pad_clearance": 0.05253437151683013,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.13705447114334504,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6eb68b154cd33e57f52626958d6de9565bba33211b71be536eda36acad0b9338",
+    "visual_seed": 1025043000789319405,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_66_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1ef021cd3a3fc0c7f636c4ccb134731e9028362
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_66_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24245115963107972,
+              0.09284401947926443,
+              1.0435514988078547
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+            "current_z": 1.0435514988078547,
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+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.18696511060857868,
+            "gripper_z": 1.0478060343526217,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23758078557678564,
+              0.0881068350320786,
+              1.0478060343526217
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+              0.00487037405429408,
+              0.004737184447185835,
+              -0.0042545355447669575
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+            "object_to_gripper_xy": 0.006794222539437483,
+            "object_to_gripper_z": -0.0042545355447669575,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24245115963107972,
+              0.06855978119299568,
+              1.0435514988078547
+            ],
+            "finger_b": [
+              0.2307711803142618,
+              0.09284401947926443,
+              1.0435514988078547
+            ],
+            "finger_midpoint": [
+              0.23661116997267076,
+              0.08070190033613006,
+              1.0435514988078547
+            ],
+            "object_minus_finger_midpoint": [
+              0.005839989658408956,
+              0.012142119143134372,
+              0.0
+            ],
+            "finger_gap": 0.026947099027271482,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0435514988078547,
+            "object_top_z": 1.0896486881792526,
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+            "fingertip_min_top_clearance": 0.013829156811419418,
+            "object_projection_between_fingers": 0.8121288426641264,
+            "object_to_finger_line_xy": 0.010525786119731954,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048438940468395614,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5717129827968657,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/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": "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": [
+              0.24229368694376263,
+              0.09174168345070095,
+              1.2380869154560714
+            ],
+            "held_position": [
+              0.24746041581215508,
+              0.09603614810664902,
+              1.233712798509335
+            ],
+            "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": 0.008016882994306057,
+            "max_held_gripper_dist": 0.008020975082510845,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004374116946736395,
+            "max_held_gripper_z_dist": 0.0043768872189065,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08625020941804679,
+            "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": [
+              0.24746041581215508,
+              0.07063784579364438,
+              1.233712798509335
+            ],
+            "held_grasp_finger_b": [
+              0.2379749848869496,
+              0.09603614810664902,
+              1.233712798509335
+            ],
+            "held_grasp_midpoint": [
+              0.24271770034955234,
+              0.08333699695014671,
+              1.233712798509335
+            ],
+            "held_grasp_object_position": [
+              0.24746041581215508,
+              0.09603614810664902,
+              1.233712798509335
+            ],
+            "held_grasp_finger_gap": 0.02711175317495388,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02458966989642426,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07689379772914152,
+              -0.9968792556027136,
+              0.017863191757618524
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037592358934308615,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032176019210662155,
+            "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": [
+              0.2614909471954783,
+              -0.37735148703415233,
+              0.847019806950039
+            ],
+            "target_position": [
+              0.2559282073668181,
+              -0.3787414260330376,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005733760094561379,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18297092201955883,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019806950039,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542522359345333,
+            "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": 0.15158238361152623,
+            "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": 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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a67d342a699d088e02ce3e98951e58e68fedc020eaa5dad3fc65670f820fbd1f",
+    "visual_seed": 8413801082797502394,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_67_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c3553531e7dfa2dfd65affdde78cd95f88c8cd0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_67_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 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": [
+              0.2452593177877822,
+              0.09110998017315033,
+              1.0437197645113638
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+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18713331670744304,
+            "gripper_z": 1.0480964715283287,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24050660817394368,
+              0.08649681803373552,
+              1.0480964715283287
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+              0.004752709613838529,
+              0.004613162139414817,
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+            "object_to_gripper_xy": 0.006623406494999644,
+            "object_to_gripper_z": -0.004376707016964909,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2452593177877822,
+              0.06680324962932087,
+              1.0437197645113638
+            ],
+            "finger_b": [
+              0.23389590628976067,
+              0.09110998017315033,
+              1.0437197645113638
+            ],
+            "finger_midpoint": [
+              0.23957761203877143,
+              0.0789566149012356,
+              1.0437197645113638
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+            "object_minus_finger_midpoint": [
+              0.005681705749010779,
+              0.01215336527191474,
+              0.0
+            ],
+            "finger_gap": 0.02683177725391481,
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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": 1.0905957134219006,
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+            "fingertip_min_top_clearance": 0.014062784673161043,
+            "object_projection_between_fingers": 0.8206428939769325,
+            "object_to_finger_line_xy": 0.010294039739792628,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04914840688068842,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0943579462820598,
+            "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",
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+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+                "ground",
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+                "workbench"
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+            },
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+            "source_missing": false,
+            "forbidden": [],
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+            "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": []
+          }
+        },
+        "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": [
+              0.245203931418001,
+              0.09010591249152655,
+              1.2410258599295179
+            ],
+            "held_position": [
+              0.25023520266917465,
+              0.09430612470000299,
+              1.2365462323076692
+            ],
+            "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": 0.007938673480472036,
+            "max_held_gripper_dist": 0.007943224379469111,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004479627621848614,
+            "max_held_gripper_z_dist": 0.004483457625797493,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0862957354515001,
+            "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": [
+              0.25023520266917465,
+              0.0690413160895947,
+              1.2365462323076692
+            ],
+            "held_grasp_finger_b": [
+              0.24081841530342288,
+              0.09430612470000299,
+              1.2365462323076692
+            ],
+            "held_grasp_midpoint": [
+              0.24552680898629875,
+              0.08167372039479884,
+              1.2365462323076692
+            ],
+            "held_grasp_object_position": [
+              0.25023520266917465,
+              0.09430612470000299,
+              1.2365462323076692
+            ],
+            "held_grasp_finger_gap": 0.02696268603853005,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024533611275986852,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06987333617401006,
+              -0.9971020961898387,
+              0.030085323095219274
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003833596886339827,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032275436978531004,
+            "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": [
+              0.2577436204342074,
+              -0.3775579643177641,
+              0.8470195173467521
+            ],
+            "target_position": [
+              0.2528672946926487,
+              -0.37874749279972386,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005019315764841025,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18641336973311612,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195173467521,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567907380325603,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0857277693616356,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15428594790092304,
+            "release_required_pad_clearance": 0.052863884680817805,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7692266020768297,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "21d222be30eefe4e298681ff06d57b092a7c91b0f9a35dd09631b78fd8ffb00a",
+    "visual_seed": 3518191309777289201,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_68_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..98191422e108fcf212e050ec0d3749ba32765d39
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_68_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.08793147204147585,
+              1.0452419378832254
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+            "lift_margin": 0.1886554900793046,
+            "gripper_z": 1.049511116518721,
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+              0.24312807540367612,
+              0.08313288767339856,
+              1.049511116518721
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+              0.005231090632485252,
+              0.0047985843680772855,
+              -0.004269178635495585
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+            "object_to_gripper_z": -0.004269178635495585,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24835916603616137,
+              0.06316834662487589,
+              1.0452419378832254
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+            "finger_b": [
+              0.23688005728185418,
+              0.08793147204147585,
+              1.0452419378832254
+            ],
+            "finger_midpoint": [
+              0.24261961165900778,
+              0.07554990933317587,
+              1.0452419378832254
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+              0.005739554377153594,
+              0.012381562708299973,
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+            "finger_gap": 0.027294364220319747,
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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": 1.0916999079272904,
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+            "object_projection_between_fingers": 0.8231234022934956,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0491065804624216,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0408910702767524,
+            "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/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": [
+              0.24794778358106148,
+              0.08660128829535724,
+              1.2428814141725306
+            ],
+            "held_position": [
+              0.2534317900092298,
+              0.09100623363012338,
+              1.2385062535907818
+            ],
+            "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": 0.008283712936996167,
+            "max_held_gripper_dist": 0.008286575687750026,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004375160581748805,
+            "max_held_gripper_z_dist": 0.004381790199842417,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08555111886952957,
+            "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": [
+              0.2534317900092298,
+              0.06549099552298211,
+              1.2385062535907818
+            ],
+            "held_grasp_finger_b": [
+              0.24363275641173027,
+              0.09100623363012338,
+              1.2385062535907818
+            ],
+            "held_grasp_midpoint": [
+              0.24853227321048002,
+              0.07824861457655274,
+              1.2385062535907818
+            ],
+            "held_grasp_object_position": [
+              0.2534317900092298,
+              0.09100623363012338,
+              1.2385062535907818
+            ],
+            "held_grasp_finger_gap": 0.027332186797053723,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024984459574790157,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.050142880667067256,
+              -0.9984547759321881,
+              0.023953119559096295
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004264823403046651,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0322166434060837,
+            "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": [
+              0.2659690818011482,
+              -0.37999930205545884,
+              0.8470196827287784
+            ],
+            "target_position": [
+              0.26097751442209083,
+              -0.3811367661566692,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005119528247916203,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1833285154730288,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196827287784,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542589118745566,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08660821810508738,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15195428701946598,
+            "release_required_pad_clearance": 0.053304109052543694,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6260209478114953,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0b3e7bde7b523ed06eda622565c29738e567113f067f062535c463a487f97400",
+    "visual_seed": 8434052529719818221,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_69_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fefa415b9e9a240b3d75e2bbe84fbb4082ac8ec
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_69_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 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": [
+              0.24246114882225786,
+              0.0832975382102161,
+              1.0463522201140647
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+            "current_z": 1.0463522201140647,
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+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.18976565310085436,
+            "gripper_z": 1.0507778416331306,
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+            "gripper_position": [
+              0.23720815507945292,
+              0.07845756914942521,
+              1.0507778416331306
+            ],
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+              0.00525299374280494,
+              0.004839969060790886,
+              -0.004425621519065892
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+            "object_to_gripper_xy": 0.007142775634958784,
+            "object_to_gripper_z": -0.004425621519065892,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24246114882225786,
+              0.058578782736219345,
+              1.0463522201140647
+            ],
+            "finger_b": [
+              0.23084578503525055,
+              0.0832975382102161,
+              1.0463522201140647
+            ],
+            "finger_midpoint": [
+              0.23665346692875422,
+              0.07093816047321772,
+              1.0463522201140647
+            ],
+            "object_minus_finger_midpoint": [
+              0.005807681893503641,
+              0.012359377736998384,
+              0.0
+            ],
+            "finger_gap": 0.027311784051719603,
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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": 1.0463522201140647,
+            "object_top_z": 1.0930818941282023,
+            "finger_top_clearance": 0.046729674014137634,
+            "fingertip_min_top_clearance": 0.01401890220424129,
+            "object_projection_between_fingers": 0.8191304356126818,
+            "object_to_finger_line_xy": 0.010512580820383024,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04955414133262104,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.49197417347582,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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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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+                "gripper",
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+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
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+                "tool_center",
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+                "ur5e",
+                "visuals",
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+                "wrist_2_joint",
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+              ],
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+                "base_link",
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+            },
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
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+      "success": 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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+            "gripper_position": [
+              0.24206400576595327,
+              0.0820387562292894,
+              1.2406097741977846
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+              0.24756000358182514,
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+              1.2360611731999833
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+            "held_gripper_dist": 0.008401969997369094,
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+            "held_gripper_z_dist": 0.0045486009978013,
+            "max_held_gripper_z_dist": 0.00455298783413971,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08547794799570567,
+            "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": [
+              0.24756000358182514,
+              0.060867963978066625,
+              1.2360611731999833
+            ],
+            "held_grasp_finger_b": [
+              0.23782868965130688,
+              0.08647692441080562,
+              1.2360611731999833
+            ],
+            "held_grasp_midpoint": [
+              0.24269434661656603,
+              0.07367244419443612,
+              1.2360611731999833
+            ],
+            "held_grasp_object_position": [
+              0.24756000358182514,
+              0.08647692441080562,
+              1.2360611731999833
+            ],
+            "held_grasp_finger_gap": 0.027395571270916956,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025117752201920238,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04684481102789688,
+              -0.9986197538637569,
+              0.02375186040819032
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004271526059379856,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03218548730272239,
+            "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": [
+              0.26224569357088545,
+              -0.3804365745084139,
+              0.8470195079363905
+            ],
+            "target_position": [
+              0.25771909939296694,
+              -0.38138490870456043,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00462486676555624,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18550217804353678,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195079363905,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588671139978989,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08774383038216131,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15287467912509264,
+            "release_required_pad_clearance": 0.05387191519108066,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.753438370079925,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a5de2ee5fef1d899c18c0f26ec4e5d1a350ce105564ecfb281d1010539a9b781",
+    "visual_seed": 8627273511469883591,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_70_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0202c6ed1e1d7d8cd3db4ef56bf949803096cdc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_70_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.08658711522747857,
+              1.0448451313885823
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+            "current_z": 1.0448451313885823,
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+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1882586239800167,
+            "gripper_z": 1.049075605551381,
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+            "gripper_position": [
+              0.23556547899349353,
+              0.08191159614053,
+              1.049075605551381
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+              0.00491678633657977,
+              0.004675519086948576,
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+            "object_to_gripper_z": -0.0042304741627987585,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2404822653300733,
+              0.06209848464310831,
+              1.0448451313885823
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+            "finger_b": [
+              0.22911926157209092,
+              0.08658711522747857,
+              1.0448451313885823
+            ],
+            "finger_midpoint": [
+              0.2348007634510821,
+              0.07434279993529344,
+              1.0448451313885823
+            ],
+            "object_minus_finger_midpoint": [
+              0.005681501878991191,
+              0.012244315292185129,
+              0.0
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+                "elbow_joint",
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+                "finger",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
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+                "fr3_joint5",
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+                "fr3_joint7",
+                "fr3_leftfinger",
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+                "gripper",
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+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
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+                "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",
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+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
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+                "wrist_2_joint",
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+                "base_link",
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_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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+      },
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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": [
+              0.24014924099420223,
+              0.08592525076456968,
+              1.239779393469466
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+              0.24529222058313857,
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+              1.2354417831164335
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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": 0.007992145967117193,
+            "max_held_gripper_dist": 0.00799590185241565,
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+            "held_gripper_z_dist": 0.004337610353032595,
+            "max_held_gripper_z_dist": 0.004340373103135731,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08618567944515552,
+            "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": [
+              0.24529222058313857,
+              0.06488904504352187,
+              1.2354417831164335
+            ],
+            "held_grasp_finger_b": [
+              0.2356953992303821,
+              0.09023909991964642,
+              1.2354417831164335
+            ],
+            "held_grasp_midpoint": [
+              0.24049380990676034,
+              0.07756407248158415,
+              1.2354417831164335
+            ],
+            "held_grasp_object_position": [
+              0.24529222058313857,
+              0.09023909991964642,
+              1.2354417831164335
+            ],
+            "held_grasp_finger_gap": 0.02710579757725731,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024872966964259963,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.045621219268969206,
+              -0.9984509216710873,
+              0.03185061014437262
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004234785605447796,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03232592279246156,
+            "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": [
+              0.26187095549145223,
+              -0.37367239773485705,
+              0.8470192404274912
+            ],
+            "target_position": [
+              0.2575194499029244,
+              -0.37463744161933504,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00445723126906796,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18441112473827265,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192404274912,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583137844352973,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08708881632351596,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1520540693730688,
+            "release_required_pad_clearance": 0.053544408161757984,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1003141162395265,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "70309ec7b7fd777c06e129f4c0faaae9a0db7b1ca9b01357870beb02905264e3",
+    "visual_seed": 3665597627125324423,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_71_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..959248fb16ede1e0d596985c450595e10cf342ae
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_71_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24814767803219712,
+              0.09046339098586902,
+              1.0466883867575894
+            ],
+            "current_z": 1.0466883867575894,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19010193895366856,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
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+      "reason": "executed",
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+            "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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+              "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": [
+              0.2637115498939326,
+              -0.3818353804106821,
+              0.8470194905882894
+            ],
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+              0.2579924504747333,
+              -0.38338697087981355,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005925835903109807,
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+            "gripper_dist": 0.1865011808354458,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
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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": 0.0756185972991998,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08582651487335118,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15452637537394767,
+            "release_required_pad_clearance": 0.05291325743667559,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.865013013576021,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5decab42fb1c0536b6ecd115104d66d12c7d47b6187e4b46c01c1a8124a04166",
+    "visual_seed": 6705167910131662605,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_72_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3367e10d86aa773ab49c13e58c218f0f51855be1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_72_success.json
@@ -0,0 +1,686 @@
+{
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+  "success": true,
+  "passed_steps": 3,
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+                "panda_joint5",
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+                "panda_leftfingertip",
+                "panda_rightfinger",
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+                "ridgebase_festo",
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+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "850ed2e843ac399949edc1a1cc8b27104ad780011ac09f67b40e48eea41c9634",
+    "visual_seed": 7641377489481596637,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_73_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..daee2163d883a772592fabd916422cef884c3553
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_73_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "reason": "executed",
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+              0.0929797890600299,
+              1.0461087786721976
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+            "object_to_gripper_z": -0.004447744817862365,
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+              0.06866468874464035,
+              1.0461087786721976
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+              0.08082223890233513,
+              1.0461087786721976
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+              0.012157550157694777,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
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+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
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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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+                  "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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+        "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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+              0.09176503469877027,
+              1.2429092876701004
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+              0.09612107941923037,
+              1.2383484828326718
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+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008265178329460403,
+            "max_held_gripper_dist": 0.008270561648534637,
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+            "held_gripper_z_dist": 0.0045608048374286,
+            "max_held_gripper_z_dist": 0.0045642704381441135,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08670960849196402,
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+            "held_grasp_geometry_checked": true,
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+              0.07067480455616074,
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+              0.08339794198769555,
+              1.2383484828326718
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+              0.09612107941923037,
+              1.2383484828326718
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+            "held_grasp_finger_gap": 0.027225153675683508,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02459268814840523,
+            "held_grasp_world_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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+              -0.9965482076857984,
+              0.025167460306424142
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038319588275885098,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "attach_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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+          "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": 0.15402885471051767,
+            "release_required_pad_clearance": 0.05249788076478584,
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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": 0.06852803962831741,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4e6df2d323e2a677332f66816a0664b56ac798aa6ff1b07c0da00bc93f9e3da0",
+    "visual_seed": 5522500827938601893,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
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+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_74_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddfa0bb980046dfa8c25bd5967a9717407f9cbc7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_74_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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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",
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+                "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": {
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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_shake_count": 5,
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+            "held_object_min_xy_range": 0.04,
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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": [
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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_min_pad_clearance": 0.15343224491744722,
+            "release_required_pad_clearance": 0.052960641341936954,
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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": 0.9561263201610902,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8075fd80febc19bff71e8d17c9ae1a7076e37fcc74f610496da7c7317cf15492",
+    "visual_seed": 6756043266630142116,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_75_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..be7374dc064975ed30c028a0dc2d29e9d6a8cf23
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_75_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              0.09004722147844799,
+              1.046590770376273
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+            "lift_margin": 0.1900043225723521,
+            "gripper_z": 1.0508926004350014,
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+            "gripper_position": [
+              0.23953093811194323,
+              0.08531308273626693,
+              1.0508926004350014
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+              0.004734138742181052,
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+            "object_to_gripper_z": -0.0043018300587285285,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.06581716616162615,
+              1.046590770376273
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+            "finger_b": [
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+              0.09004722147844799,
+              1.046590770376273
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+            "finger_midpoint": [
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+              0.07793219382003708,
+              1.046590770376273
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+              0.01211502765841091,
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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": 0.04858394848353306,
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+            "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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+                  "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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+              0.08886013306014814,
+              1.2441082131107704
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+            "held_position": [
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+              0.09311185536679986,
+              1.2396999218702314
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008014696197218589,
+            "max_held_gripper_dist": 0.008019187659613068,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004408291240538986,
+            "max_held_gripper_z_dist": 0.004412635680133503,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0856859242920486,
+            "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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+              0.06775615842324684,
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+              0.08043400689502335,
+              1.2396999218702314
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+            "held_grasp_object_position": [
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+              0.09311185536679986,
+              1.2396999218702314
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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": 0.024534375756960845,
+            "held_grasp_world_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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+              -0.9967285043192198,
+              0.021908118243435415
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037554209908928346,
+            "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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+    },
+    {
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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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+          "passed": true,
+          "metrics": {
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_fingertip_min_gap": 0.08512564711066893,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.152816888258273,
+            "release_required_pad_clearance": 0.05256282355533447,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.18973779834219817,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1ed1079163de9e3d3139f098ae85f394a41c9545f77bc7009188af3ae8f0d6f3",
+    "visual_seed": 5158817947888065413,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_76_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d50f5c28058f949d690355312f2716f08a3910fc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_76_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.0890761209746826,
+              1.0451074636644273
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+            "lift_margin": 0.1885208370465722,
+            "gripper_z": 1.049577825626788,
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+            "gripper_position": [
+              0.2428223857191128,
+              0.08406022999975248,
+              1.049577825626788
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+              0.005436992894979981,
+              0.005015890974930118,
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+            "object_to_gripper_z": -0.004470361962360725,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24825937861409278,
+              0.06434111222193396,
+              1.0451074636644273
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+            "finger_b": [
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+              0.0890761209746826,
+              1.0451074636644273
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+            "finger_midpoint": [
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+              0.07670861659830827,
+              1.0451074636644273
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+              0.012367504376374322,
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+            ],
+            "finger_gap": 0.027501733215047258,
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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": 0.8089170830667333,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04843381820618374,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7112047997512652,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "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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+      },
+      "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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+              0.08728481943335246,
+              1.2410480252552796
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+            "held_position": [
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+              0.09181617664693738,
+              1.2364532753871849
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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": 0.008643347311724557,
+            "max_held_gripper_dist": 0.008645690463403868,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004594749868094716,
+            "max_held_gripper_z_dist": 0.004602816833793932,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08582408501643056,
+            "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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+              0.06610482944158177,
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+              0.07896050304425958,
+              1.2364532753871849
+            ],
+            "held_grasp_object_position": [
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+              0.09181617664693738,
+              1.2364532753871849
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+            "held_grasp_finger_gap": 0.02756785290793109,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024988795355569884,
+            "held_grasp_world_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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+              -0.9976579962752652,
+              0.015602318947080859
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004110595241453044,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032043491509163004,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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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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+            "target": "heater_platform",
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+            "gripper_away_ok": true,
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+            "min_z_margin": 0.2,
+            "require_object_upright": true,
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+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554979110102873,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08624618375789951,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1539816939216125,
+            "release_required_pad_clearance": 0.05312309187894976,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2716277960889013,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "64f09d399e0ce036d32c2c7d48f8badbe811dd5283fd84b9429053a051b485e4",
+    "visual_seed": 125311642620719275,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_77_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..243e7328b071e92f3cd6f85aac5c8b76ab541567
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_77_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.092939010483111,
+              1.0450238253566633
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+            "gripper_z": 1.0495941255605439,
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+            "gripper_position": [
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+              0.08790056612872701,
+              1.0495941255605439
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+              0.0050384443543839835,
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+            "object_to_gripper_z": -0.004570300203880606,
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+              0.06823101457787042,
+              1.0450238253566633
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+              0.092939010483111,
+              1.0450238253566633
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+              0.08058501253049072,
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+              0.01235399795262028,
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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": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_b"
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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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+                  "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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+              0.0913551317018865,
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00870623431047911,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004698559278620618,
+            "max_held_gripper_z_dist": 0.004704490858228549,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08667842746195686,
+            "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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+              0.07021108302612122,
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+              0.08305639805006278,
+              1.2361803598871217
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+            "held_grasp_object_position": [
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+              0.09590171307400433,
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+            "held_grasp_finger_gap": 0.02756592386575088,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02495630826911926,
+            "held_grasp_world_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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+              -0.9975272689031508,
+              0.020830198815977252
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004132209619701165,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "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": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              0.847019587889674
+            ],
+            "target_position": [
+              0.2586311861703099,
+              -0.3771303688699164,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0059035714350525225,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18677940475904461,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019587889674,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588691925964185,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08638989802983975,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1542041274162237,
+            "release_required_pad_clearance": 0.053194949014919876,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4121964702078784,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "686f3822ccd1fedd7fff8d8b6baacfb7baa235e6716c4d4ccb318055abc87775",
+    "visual_seed": 6388558180209110164,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_78_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..410c6a5c8aba67b0e4aa6753d5b38a9fc65962a0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_78_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.08869126319807995,
+              1.0468855221568198
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+            "gripper_position": [
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+              0.08388077343141212,
+              1.0514652394083361
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+              0.004810489766667828,
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+            "object_to_gripper_z": -0.004579717251516291,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24613578427285357,
+              0.06438007166899987,
+              1.0468855221568198
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+            "finger_b": [
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+              0.08869126319807995,
+              1.0468855221568198
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+            "finger_midpoint": [
+              0.24022140900019787,
+              0.0765356674335399,
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+              0.012155595764540048,
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+            "object_to_finger_line_xy": 0.01063653762479899,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "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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+      },
+      "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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+              0.08757300458787508,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.008288210736137691,
+            "max_held_gripper_dist": 0.008293608567337185,
+            "held_gripper_max_dist": 0.15,
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+            "max_held_gripper_z_dist": 0.004704656678373276,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08658189496245133,
+            "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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+              0.07918586488286383,
+              1.2370059045227106
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+            "held_grasp_object_position": [
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+              0.0919143556926849,
+              1.2370059045227106
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+            "held_grasp_finger_gap": 0.0271961958253068,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024641327916326877,
+            "held_grasp_world_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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+              -0.9967950231246688,
+              0.022703164990855337
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038055653185753223,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03214549634173875,
+            "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"
+                },
+                {
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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": [
+              0.2643378951586858,
+              -0.37938540734549453,
+              0.8470197137150564
+            ],
+            "target_position": [
+              0.2581752951927196,
+              -0.38119564420591096,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006422974064351869,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1869981571998337,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197137150564,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527331329865028,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08579107755754599,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15601453813469138,
+            "release_required_pad_clearance": 0.052895538778772996,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8299171986585694,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e9c37ce0fe7e165ba87feca7494cb30a2e9c8e447adc0b68f804ed697e2822f2",
+    "visual_seed": 2979080165691684008,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_79_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..00bd33a12d3ece71b6c6ad32e272ad7777742540
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_79_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.09104510062927032,
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+              0.24186610221654742,
+              0.0862285880501274,
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+            "finger_midpoint": [
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+              0.078890400500396,
+              1.0438865316228758
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
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+          "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": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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",
+        "attach_used": false,
+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.08973825115696489,
+              1.241519918733415
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+              0.09405560119288287,
+              1.236877840509324
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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": 0.00827728522066345,
+            "max_held_gripper_dist": 0.008281103380544386,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0046420782240910174,
+            "max_held_gripper_z_dist": 0.004646461283658532,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08569950317784192,
+            "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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+              0.06863331058993068,
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+              0.09405560119288287,
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+            "held_grasp_midpoint": [
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+              0.08134445589140676,
+              1.236877840509324
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+            "held_grasp_object_position": [
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+              0.09405560119288287,
+              1.236877840509324
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+            "held_grasp_finger_gap": 0.0271888850289572,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02455960731060057,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08024458092453034,
+              -0.9964963272320417,
+              0.023577044880528586
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003797000064238382,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03214680940544356,
+            "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": [
+              0.26404112128439683,
+              -0.3750174450935199,
+              0.8470195402908233
+            ],
+            "target_position": [
+              0.2584726950714805,
+              -0.3762538918243861,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005704048650473031,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18494919159766884,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195402908233,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752504875196677,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08559845544803553,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15404759361393372,
+            "release_required_pad_clearance": 0.05279922772401777,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6452812801754919,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e7cf275a0ec523f125a93de0115de2cac87a3d01c5ee46101461f84eba506c7e",
+    "visual_seed": 8206728690781254524,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_7_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fff2ac686578e924fcb548f382446f4432cd83ab
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_7_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.09590982805142928,
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+            "gripper_z": 1.0492845189537618,
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+            "gripper_position": [
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+              0.09094422231164065,
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+              0.004965605739788631,
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+            "object_to_gripper_z": -0.005014218891575384,
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+              0.07091737580904035,
+              1.0442703000621865
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+              0.09590982805142928,
+              1.0442703000621865
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+              0.08341360193023481,
+              1.0442703000621865
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_upright_axis_local": [
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+              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": {
+              "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"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/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",
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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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+              0.09519472271883034,
+              1.2382814436243592
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+              1.233144448281269
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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": 0.00900658753796775,
+            "max_held_gripper_dist": 0.00900797515814699,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0051369953430902004,
+            "max_held_gripper_z_dist": 0.0051459946211875884,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0850741987565582,
+            "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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+              0.07422944494712133,
+              1.233144448281269
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+              0.08703600201592043,
+              1.233144448281269
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+            "held_grasp_object_position": [
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+            "held_grasp_finger_gap": 0.027603768360146563,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025334016167799914,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.026047882294228497,
+              -0.9995705692575638,
+              0.013423296990532685
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004814043409239345,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032265117970732754,
+            "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": [
+              0.2618955803302877,
+              -0.3770928614848466,
+              0.8470195061839895
+            ],
+            "target_position": [
+              0.2556206629155575,
+              -0.37930161059023865,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006652304951838444,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1857128552784504,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195061839895,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558064120405211,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08793898078604707,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15414221391482227,
+            "release_required_pad_clearance": 0.05396949039302354,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.949442021977083,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d5b6628c4234c711767214107a5975afe9ecf82b349967f36b65b88326a4bcdc",
+    "visual_seed": 2398470134324377519,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_80_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd0a6e22e9241cb7f8cbed23cbc60f2cabf45a66
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_80_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "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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+              0.08561843595673942,
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+              0.06091715280996641,
+              1.0468811449875086
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+              1.0468811449875086
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+              0.07326779438335292,
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+            "fingertip_z_max_dist": 0.1,
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+              1.0
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+            "stable_success_frames": 214,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "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"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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_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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+              0.08438869438610015,
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008305238755894801,
+            "max_held_gripper_dist": 0.00830786787585317,
+            "held_gripper_max_dist": 0.15,
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+            "max_held_gripper_z_dist": 0.004454551625864056,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08663021419478574,
+            "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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+              0.06323891069767645,
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+              0.07601818056748996,
+              1.238718919334138
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+            "held_grasp_object_position": [
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+              1.238718919334138
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+            "held_grasp_finger_gap": 0.02734263162523841,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02503093532307226,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.050317293353122385,
+              -0.9984829470472485,
+              0.022360108350757187
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004218186654745764,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032195926545899894,
+            "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": [
+              0.26184121603134536,
+              -0.3812202366068959,
+              0.8470197937594952
+            ],
+            "target_position": [
+              0.25663337003069053,
+              -0.3823142744766146,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005321520349196745,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1853506038111477,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197937594952,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522144584054331,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08582720446801236,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15430409356645844,
+            "release_required_pad_clearance": 0.05291360223400618,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8650127813021403,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f9b0d69c3afe278c2f8213cf312364e546c2c308405ff0b6bf858c471e4b8b67",
+    "visual_seed": 5042807260606959579,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_81_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b9324d231b713fc0590b85ce3970f846349cc2c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_81_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.08905609787526383,
+              1.0471514096760952
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+            "gripper_z": 1.0514580266383913,
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+            "gripper_position": [
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+              0.0841637468261919,
+              1.0514580266383913
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+              0.004984610038171217,
+              0.00489235104907193,
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+            "object_to_gripper_z": -0.0043066169622960615,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24156844240742284,
+              0.06483861159454496,
+              1.0471514096760952
+            ],
+            "finger_b": [
+              0.2294814138834015,
+              0.08905609787526383,
+              1.0471514096760952
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+            "finger_midpoint": [
+              0.23552492814541218,
+              0.0769473547349044,
+              1.0471514096760952
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012108743140359438,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.010814843039800941,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048781821524674904,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8885642991461504,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "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/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "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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+              0.08778502016286646,
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+              0.09215707166143118,
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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": 0.008205867934101175,
+            "max_held_gripper_dist": 0.008208457794422207,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004422487504345041,
+            "max_held_gripper_z_dist": 0.004425880598862841,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08641712327454726,
+            "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": [
+              0.2467690028241528,
+              0.06667716810545632,
+              1.2388104897621397
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+            "held_grasp_finger_b": [
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+              0.09215707166143118,
+              1.2388104897621397
+            ],
+            "held_grasp_midpoint": [
+              0.24192911983983523,
+              0.07941711988344374,
+              1.2388104897621397
+            ],
+            "held_grasp_object_position": [
+              0.2467690028241528,
+              0.09215707166143118,
+              1.2388104897621397
+            ],
+            "held_grasp_finger_gap": 0.02725662037798022,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024598231507202726,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08169316128892196,
+              -0.9964324289510077,
+              0.0211811693118511
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003792850075723497,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032110338529694686,
+            "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": [
+              0.25940185316296105,
+              -0.37529286520399435,
+              0.8470189374785854
+            ],
+            "target_position": [
+              0.2539061859105336,
+              -0.3767345266177367,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005681614751219682,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18456951299355118,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470189374785854,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754938005283292,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08513637188624042,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15295714272853628,
+            "release_required_pad_clearance": 0.05256818594312021,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.19779817845180672,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "869ef22a0228d65a717d510975ae0e0a0ed660d04d1654a03d33143beee1845b",
+    "visual_seed": 1906859679197370544,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_82_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ca27970513df3f1df948bf3e95a8bf0681ac4e0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_82_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.24390966205115888,
+              0.09051435426509823,
+              1.0472425343108918
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+            "gripper_position": [
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+              0.08582971155883747,
+              1.0514961725474727
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+              0.004684642706260761,
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+            "object_to_gripper_z": -0.004253638236580981,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24390966205115888,
+              0.06620715087029676,
+              1.0472425343108918
+            ],
+            "finger_b": [
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+              0.09051435426509823,
+              1.0472425343108918
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+            "finger_midpoint": [
+              0.2381440394924508,
+              0.07836075256769749,
+              1.0472425343108918
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012153601697400734,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010418350983458747,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04840625685859176,
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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": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "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": [
+              0.2437947294073197,
+              0.08955232198294552,
+              1.2426983898765587
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+            "held_position": [
+              0.24890022852557345,
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+              1.2383332501412128
+            ],
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00795846709428809,
+            "max_held_gripper_dist": 0.00796001291323103,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004365139735345913,
+            "max_held_gripper_z_dist": 0.004367670985381711,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08629952021317822,
+            "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": [
+              0.24890022852557345,
+              0.06848011044038499,
+              1.2383332501412128
+            ],
+            "held_grasp_finger_b": [
+              0.23941767565404437,
+              0.09382041667909281,
+              1.2383332501412128
+            ],
+            "held_grasp_midpoint": [
+              0.24415895208980892,
+              0.0811502635597389,
+              1.2383332501412128
+            ],
+            "held_grasp_object_position": [
+              0.24890022852557345,
+              0.09382041667909281,
+              1.2383332501412128
+            ],
+            "held_grasp_finger_gap": 0.02705642121997732,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024611773256425714,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06991723146755546,
+              -0.9974136406386452,
+              0.016661638931266376
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003849756044880552,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032231344493575884,
+            "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": [
+              0.2610267759289266,
+              -0.37427774563617794,
+              0.8470204285086724
+            ],
+            "target_position": [
+              0.25543760613463695,
+              -0.3757976310663791,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0057921386991626345,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18741548804880323,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470204285086724,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561627639300572,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852830724742465,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1554800038940757,
+            "release_required_pad_clearance": 0.052641536237123254,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3380264257654644,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1eb3597713fe83482d6e0c0924bca24946dce536cd8ae2f8a0477fbc31c14c51",
+    "visual_seed": 1032640041764343507,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_83_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..755b7345e0da9ea62230d603de672e81cdc90984
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_83_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24904317511914772,
+              0.0898166992420425,
+              1.0455883294757784
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+            "lift_margin": 0.18900176246256806,
+            "gripper_z": 1.050180959361257,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24451354318314647,
+              0.08527660397333303,
+              1.050180959361257
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+              0.004529631936001255,
+              0.004540095268709465,
+              -0.004592629885478594
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+            "object_to_gripper_xy": 0.006413269877730123,
+            "object_to_gripper_z": -0.004592629885478594,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24904317511914772,
+              0.06571782582798744,
+              1.0455883294757784
+            ],
+            "finger_b": [
+              0.23771441395094536,
+              0.0898166992420425,
+              1.0455883294757784
+            ],
+            "finger_midpoint": [
+              0.24337879453504654,
+              0.07776726253501497,
+              1.0455883294757784
+            ],
+            "object_minus_finger_midpoint": [
+              0.005664380584101181,
+              0.01204943670702753,
+              0.0
+            ],
+            "finger_gap": 0.026628866469168747,
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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": 1.0935303460295143,
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+            "fingertip_min_top_clearance": 0.014382604966120793,
+            "object_projection_between_fingers": 0.8190079569155065,
+            "object_to_finger_line_xy": 0.010252422184273836,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05017868335103516,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8844978503164829,
+            "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/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": [
+              0.24936983335806487,
+              0.08869097325272943,
+              1.242486406501678
+            ],
+            "held_position": [
+              0.25420904908429026,
+              0.09278105669322127,
+              1.2377875606061621
+            ],
+            "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": 0.007888342293849819,
+            "max_held_gripper_dist": 0.007892554957595423,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004698845895515946,
+            "max_held_gripper_z_dist": 0.004700860978386512,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08663565519934174,
+            "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": [
+              0.25420904908429026,
+              0.06755426287750857,
+              1.2377875606061621
+            ],
+            "held_grasp_finger_b": [
+              0.24510502098731898,
+              0.09278105669322127,
+              1.2377875606061621
+            ],
+            "held_grasp_midpoint": [
+              0.2496570350358046,
+              0.08016765978536491,
+              1.2377875606061621
+            ],
+            "held_grasp_object_position": [
+              0.25420904908429026,
+              0.09278105669322127,
+              1.2377875606061621
+            ],
+            "held_grasp_finger_gap": 0.02681929256730914,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024416078685376215,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07792709997721194,
+              -0.9959858306462477,
+              0.044040802002756396
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035995929516604666,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03228273511541464,
+            "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": [
+              0.2605346926488522,
+              -0.3733524086969768,
+              0.8470195230353783
+            ],
+            "target_position": [
+              0.256294419044833,
+              -0.373967234889851,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004284615675225267,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18503100261107433,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195230353783,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552419860012681,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08515195215292311,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1532023923627466,
+            "release_required_pad_clearance": 0.052575976076461556,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.21304241730036141,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "73eb8b7f229c00da83cbf8c1303c9314cce8e0866ebf0cdf1bb6cdd9692a14f4",
+    "visual_seed": 7972834069148499067,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_84_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e78be3841b9a844a063855da2adbeabc4f68fa6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_84_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24718416249785194,
+              0.0888791336047841,
+              1.0445635586027657
+            ],
+            "current_z": 1.0445635586027657,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.1879771704034897,
+            "gripper_z": 1.049210157173953,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2420971030012111,
+              0.08401003828492311,
+              1.049210157173953
+            ],
+            "object_minus_gripper": [
+              0.0050870594966408444,
+              0.004869095319860989,
+              -0.00464659857118721
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+            "object_to_gripper_xy": 0.007041751455160569,
+            "object_to_gripper_z": -0.00464659857118721,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24718416249785194,
+              0.06446243565814881,
+              1.0445635586027657
+            ],
+            "finger_b": [
+              0.23528838929895352,
+              0.0888791336047841,
+              1.0445635586027657
+            ],
+            "finger_midpoint": [
+              0.24123627589840274,
+              0.07667078463146645,
+              1.0445635586027657
+            ],
+            "object_minus_finger_midpoint": [
+              0.005947886599449198,
+              0.012208348973317643,
+              0.0
+            ],
+            "finger_gap": 0.02716034901500446,
+            "fingertip_max_gap": 0.09264311529341171,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013580174507502225,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0445635586027657,
+            "object_top_z": 1.0911249162985837,
+            "finger_top_clearance": 0.04656135769581793,
+            "fingertip_min_top_clearance": 0.013968407308745361,
+            "object_projection_between_fingers": 0.8081708253932306,
+            "object_to_finger_line_xy": 0.010694100465304151,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04882155764670586,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.907509575663633,
+            "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",
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+            },
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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": {
+        "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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+              0.0875072379836187,
+              1.2400644631787856
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+              0.09190028825358892,
+              1.2352970830979968
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008440626702895904,
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+            "held_gripper_z_dist": 0.004767380080788808,
+            "max_held_gripper_z_dist": 0.004770571162607151,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.086663319512461,
+            "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": [
+              0.2523107432371716,
+              0.06637472201908945,
+              1.2352970830979968
+            ],
+            "held_grasp_finger_b": [
+              0.242631554136363,
+              0.09190028825358892,
+              1.2352970830979968
+            ],
+            "held_grasp_midpoint": [
+              0.2474711486867673,
+              0.07913750513633919,
+              1.2352970830979968
+            ],
+            "held_grasp_object_position": [
+              0.2523107432371716,
+              0.09190028825358892,
+              1.2352970830979968
+            ],
+            "held_grasp_finger_gap": 0.027299106821305198,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024667406306255465,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07949573491231707,
+              -0.9965248301837846,
+              0.02487349910909175
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00382329365271626,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03209706756175897,
+            "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": [
+              0.259101161130764,
+              -0.38196218341268884,
+              0.8470198027997824
+            ],
+            "target_position": [
+              0.25333115896974234,
+              -0.3836199407868563,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0060034227278945584,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18535616750541564,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198027997824,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553164952473897,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08513690769722386,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15362025713189,
+            "release_required_pad_clearance": 0.05256845384861193,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.20173917054174373,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dfeaa82d77b13f28519a792e667fc65a90e7bc2ccdb73660b662501fc8a72f78",
+    "visual_seed": 1669999259813699923,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_86_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..db7ed7e8baee81c0ea4ae974eb726ecd84411ba2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_86_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.09427722540012604,
+              1.0457415435291288
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+            "gripper_z": 1.0499999627001135,
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+            "gripper_position": [
+              0.2374996704568115,
+              0.08952166921256198,
+              1.0499999627001135
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+              0.004755556187564056,
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+            "object_to_gripper_z": -0.004258419170984684,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2426656594080681,
+              0.06955293852320926,
+              1.0457415435291288
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+            "finger_b": [
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+              0.09427722540012604,
+              1.0457415435291288
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+            "finger_midpoint": [
+              0.23696209991111097,
+              0.08191508196166765,
+              1.0457415435291288
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+              0.012362143438458387,
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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": 0.05026442538428949,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7978607989375157,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24217669727695346,
+              0.09325014210698732,
+              1.2400750135088792
+            ],
+            "held_position": [
+              0.24754577043510875,
+              0.09765352481477638,
+              1.2356938057693105
+            ],
+            "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": 0.008210463269885289,
+            "max_held_gripper_dist": 0.008212233511087368,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004381207739568627,
+            "max_held_gripper_z_dist": 0.004385956460267737,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08627288664376877,
+            "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": [
+              0.24754577043510875,
+              0.0721583382103785,
+              1.2356938057693105
+            ],
+            "held_grasp_finger_b": [
+              0.23784351207248877,
+              0.09765352481477638,
+              1.2356938057693105
+            ],
+            "held_grasp_midpoint": [
+              0.24269464125379875,
+              0.08490593151257744,
+              1.2356938057693105
+            ],
+            "held_grasp_object_position": [
+              0.24754577043510875,
+              0.09765352481477638,
+              1.2356938057693105
+            ],
+            "held_grasp_finger_gap": 0.027278899488947468,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025077451420406342,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.039594139691387566,
+              -0.9986827862223123,
+              0.03263428573353521
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004362775058527622,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032277346682676095,
+            "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": [
+              0.26013616820737245,
+              -0.3745435032731355,
+              0.847019582477581
+            ],
+            "target_position": [
+              0.2558594700069575,
+              -0.375376683011757,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004357101786082306,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18440165034606082,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019582477581,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754888643200581,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08693861505923729,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15273932743545468,
+            "release_required_pad_clearance": 0.05346930752961865,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9515693099895994,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7f7badcf0cc65b6575466d58b3452d4760c5d276240f49854f536f2f470fbf2f",
+    "visual_seed": 5890207498406049882,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_87_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a0e40934a7bc1b22abb242a7fa3aefce1353c81
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_87_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.24819185912378053,
+              0.09422301924092734,
+              1.04374603036916
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+            "lift_margin": 0.18715952296059435,
+            "gripper_z": 1.0481001567106039,
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+            "gripper_position": [
+              0.24334392036863783,
+              0.08956618941741763,
+              1.0481001567106039
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+              0.0048479387551426945,
+              0.004656829823509706,
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+            "object_to_gripper_xy": 0.006722244727674227,
+            "object_to_gripper_z": -0.004354126341443942,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24819185912378053,
+              0.06983471439913583,
+              1.04374603036916
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+            "finger_b": [
+              0.2367769609290576,
+              0.09422301924092734,
+              1.04374603036916
+            ],
+            "finger_midpoint": [
+              0.24248441002641907,
+              0.08202886682003158,
+              1.04374603036916
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057074490973614556,
+              0.012194152420895762,
+              0.0
+            ],
+            "finger_gap": 0.026927482501192722,
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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": 1.0903058893914332,
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+            "fingertip_min_top_clearance": 0.013967957706682016,
+            "object_projection_between_fingers": 0.8202981366479252,
+            "object_to_finger_line_xy": 0.010338508878376871,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04882284171085979,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8598107633507616,
+            "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": {
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+                "dummy_base_revolute_z_joint",
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+                "festo",
+                "finger",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
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+                "geometry",
+                "gripper",
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+                "joint4",
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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",
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+                "wrist_2_joint",
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+              ],
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+                "base_link",
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+                "workbench"
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+            },
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+            "last_frame": {
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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",
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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": [
+              0.24817758522657107,
+              0.09315280900594823,
+              1.239069222877065
+            ],
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+              0.253295407469436,
+              0.09739189365954581,
+              1.2345969978103695
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008010164808361284,
+            "max_held_gripper_dist": 0.008014826401778122,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004472225066695534,
+            "max_held_gripper_z_dist": 0.0044758291804123385,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0864906825534005,
+            "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": [
+              0.253295407469436,
+              0.07203208175495222,
+              1.2345969978103695
+            ],
+            "held_grasp_finger_b": [
+              0.24390050142659905,
+              0.09739189365954581,
+              1.2345969978103695
+            ],
+            "held_grasp_midpoint": [
+              0.24859795444801752,
+              0.08471198770724903,
+              1.2345969978103695
+            ],
+            "held_grasp_object_position": [
+              0.253295407469436,
+              0.09739189365954581,
+              1.2345969978103695
+            ],
+            "held_grasp_finger_gap": 0.02704411801834368,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024612027055018932,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07175729599830448,
+              -0.9970965164860229,
+              0.02548386317750762
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037896378942040157,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0322200583845092,
+            "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": [
+              0.26050206704556944,
+              -0.3745269306304749,
+              0.8470196447317118
+            ],
+            "target_position": [
+              0.25471095271546734,
+              -0.37616660733593194,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006018766059810964,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18338897152117714,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196447317118,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578177481589927,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08575204027433915,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15120821111699018,
+            "release_required_pad_clearance": 0.05287602013716958,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.792283346214024,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "665848da48af389c00670043e733bbbdc716ab793c0957ec429fe5fecb6434b9",
+    "visual_seed": 6145879009402529015,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_88_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..017bb70187ed5d3a7ae83afe94015c71367c1292
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_88_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.08915078549110764,
+              1.0433332089810918
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+            "lift_margin": 0.18674676117717126,
+            "gripper_z": 1.0478514496340077,
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+            "gripper_position": [
+              0.24082369569921436,
+              0.08432448154093954,
+              1.0478514496340077
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+              0.00512925938290934,
+              0.004826303950168101,
+              -0.004518240652915839
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+            "object_to_gripper_z": -0.004518240652915839,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2459529550821237,
+              0.06461697120078874,
+              1.0433332089810918
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+            "finger_b": [
+              0.23423232800109878,
+              0.08915078549110764,
+              1.0433332089810918
+            ],
+            "finger_midpoint": [
+              0.24009264154161125,
+              0.07688387834594819,
+              1.0433332089810918
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+              0.012266907145159447,
+              0.0
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+            "finger_gap": 0.027189724949037465,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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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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+                "gripper",
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+                "left_inner_finger",
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+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
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+                "wrist_2_joint",
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+              ],
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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/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24550699779077426,
+              0.08794413904365367,
+              1.240826307248325
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+              0.2509210025554506,
+              0.09233398943600132,
+              1.236200284480746
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008365543658680625,
+            "max_held_gripper_dist": 0.008368096128365286,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004626022767578952,
+            "max_held_gripper_z_dist": 0.0046310374468077065,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08638198806223003,
+            "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": [
+              0.2509210025554506,
+              0.06688296237740306,
+              1.236200284480746
+            ],
+            "held_grasp_finger_b": [
+              0.24111012836569184,
+              0.09233398943600132,
+              1.236200284480746
+            ],
+            "held_grasp_midpoint": [
+              0.2460155654605712,
+              0.0796084759067022,
+              1.236200284480746
+            ],
+            "held_grasp_object_position": [
+              0.2509210025554506,
+              0.09233398943600132,
+              1.236200284480746
+            ],
+            "held_grasp_finger_gap": 0.02727651060353533,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024784485651444525,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06215053917524792,
+              -0.9977686446071917,
+              0.024393489273856428
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004117057334318778,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032198231019414485,
+            "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": [
+              0.2570151184476384,
+              -0.3785575424352912,
+              0.847019593603634
+            ],
+            "target_position": [
+              0.25181372870432095,
+              -0.37997008667025034,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005389780744854504,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18369822529608085,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019593603634,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580993542523887,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08626436920211407,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1515119201254961,
+            "release_required_pad_clearance": 0.053132184601057036,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2899610412167435,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1812eb8058b165c3b06d39d3443183f2dfa16185a4308bd9a8f0241bf9a6ad6b",
+    "visual_seed": 1086291056831724890,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_89_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac6081b1fcdfdfb25a9a266b6ed05e18d4cbadc4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_89_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24213784640489192,
+              0.09431960596363381,
+              1.0469006168497164
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+            "current_z": 1.0469006168497164,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1903141094411508,
+            "gripper_z": 1.0513704502329801,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23717919635795434,
+              0.08956832438108653,
+              1.0513704502329801
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+            "object_minus_gripper": [
+              0.004958650046937574,
+              0.004751281582547284,
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+                "dummy_base_revolute_z_joint",
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+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "joint1",
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+                "joint3",
+                "joint4",
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+                "left_inner_finger",
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+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "desk",
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+                "ground",
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+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "last_frame": {
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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",
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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": [
+              0.2418922228681726,
+              0.09351410865741303,
+              1.241962797702015
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+            "held_position": [
+              0.24711726280589055,
+              0.09785112608903887,
+              1.2373756010787293
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008194701667153987,
+            "max_held_gripper_dist": 0.008197076455807398,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00458719662328555,
+            "max_held_gripper_z_dist": 0.004590933990659796,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08673059384461401,
+            "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": [
+              0.24711726280589055,
+              0.07246267049938265,
+              1.2373756010787293
+            ],
+            "held_grasp_finger_b": [
+              0.2374922638685876,
+              0.09785112608903887,
+              1.2373756010787293
+            ],
+            "held_grasp_midpoint": [
+              0.24230476333723908,
+              0.08515689829421076,
+              1.2373756010787293
+            ],
+            "held_grasp_object_position": [
+              0.24711726280589055,
+              0.09785112608903887,
+              1.2373756010787293
+            ],
+            "held_grasp_finger_gap": 0.027151690219414132,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024662604416596137,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06878060250545248,
+              -0.9974855521710406,
+              0.017082210893831218
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003934123087425736,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03220690953149067,
+            "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": [
+              0.2585285242950174,
+              -0.37675181819480136,
+              0.8470196569801196
+            ],
+            "target_position": [
+              0.2529130618128859,
+              -0.3782945663535976,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005823529064896578,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18669330028420045,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196569801196,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584920522721086,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08607172101864209,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15430512747876338,
+            "release_required_pad_clearance": 0.05303586050932105,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1014379339737856,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 89,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "18edd36666d98e72cbb4ade0ee0b93414a0be9a793436a42d4a171e6e7849c6c",
+    "visual_seed": 6933747235007114549,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_8_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..215c4ddc6ccea29cf0d6259a66b3ce4bd5f11ccb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_8_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_90_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e5986be770d162529f129b6ffc804d85fbc31a8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_90_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.09032218815016474,
+              1.0456312836444472
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+              0.08550082068294212,
+              1.0499190857062717
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+              0.005168822675166607,
+              0.004821367467222615,
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+            "object_to_gripper_xy": 0.007068402372623469,
+            "object_to_gripper_z": -0.004287802061824442,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24794753799656588,
+              0.06568328534163932,
+              1.0456312836444472
+            ],
+            "finger_b": [
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+              0.09032218815016474,
+              1.0456312836444472
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+              0.07800273674590202,
+              1.0456312836444472
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+              0.012319451404262716,
+              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": 0.04917945470073179,
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+            "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",
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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/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.08927386908947185,
+              1.2420950955354302
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+              0.2528500438065765,
+              0.09370342829929827,
+              1.2376973083201679
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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": 0.008266634698195444,
+            "max_held_gripper_dist": 0.008271321516333087,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004397787215262294,
+            "max_held_gripper_z_dist": 0.0044019767848255675,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08636209005390583,
+            "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": [
+              0.2528500438065765,
+              0.0682420174676174,
+              1.2376973083201679
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+              0.09370342829929827,
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+              0.24791909451776606,
+              0.08097272288345783,
+              1.2376973083201679
+            ],
+            "held_grasp_object_position": [
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+              0.09370342829929827,
+              1.2376973083201679
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+            "held_grasp_finger_gap": 0.0273045872537,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024871672339665276,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05510822374351894,
+              -0.9981828666537755,
+              0.024373108022682333
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004233519593346088,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03222091708262671,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
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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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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 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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+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544632584585498,
+            "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": 0.15509054600814542,
+            "release_required_pad_clearance": 0.0528231583833621,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6909684213448667,
+            "object_max_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
+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cbaa014ded201e11a73bcf2932e3d36eb9b620300026aab88b09f7958e9840fc",
+    "visual_seed": 5738714327494745537,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
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+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_91_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddf25f285911d314220256229dd1cf603137bde5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_91_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              0.08442759160418,
+              1.0435219020730921
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+              0.07960817079019526,
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+              0.059719699728284864,
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+              1.0435219020730921
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+              0.07207364566623242,
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+            "fingertip_xy_max_dist": 0.055,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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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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+                  "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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+              0.0830501439914734,
+              1.2400910710134165
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+              0.0874606488029045,
+              1.2356909339316708
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.008290605065589455,
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+            "max_held_gripper_z_dist": 0.00440405802794519,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08671817209976805,
+            "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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+              0.061900340541090976,
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+              0.07468049467199774,
+              1.2356909339316708
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+              0.0874606488029045,
+              1.2356909339316708
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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": 0.004154718699767199,
+            "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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+            "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": {
+          "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": 0.15434189855070624,
+            "release_required_pad_clearance": 0.05347556496462129,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9635645796021115,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 91,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "07d4809d27433b1e6c9ce4ed5b9100c5f3166c9f6db732ac9542498aaa924aea",
+    "visual_seed": 3232290340646885007,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_92_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..52e3dd5e51a67b5dc2389ab9d0f44f7d45b82c47
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_92_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              1.0470247795108392
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+              0.08542590181415904,
+              1.0513790023506586
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+              0.06584358852791933,
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+              1.0470247795108392
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 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",
+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+          }
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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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+              0.08932995211218994,
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+              0.09361609453167472,
+              1.2397818728149272
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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": 0.004463132056041985,
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+              0.08094594296910945,
+              1.2397818728149272
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+              0.09361609453167472,
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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": 0.02456616951486879,
+            "held_grasp_world_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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+              0.023764392290062657
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+            "held_grasp_object_to_finger_line_xy": 0.003863275100472411,
+            "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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+    },
+    {
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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_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08649819930841544,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15384810056185913,
+            "release_required_pad_clearance": 0.053249099654207724,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5164270789074499,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 92,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d7d86e1a9c3d646ca32504a4c6383d8d998a11a588e6a7f6e9469837a1edb52b",
+    "visual_seed": 8563811744368405290,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_93_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed14c26137c2c0f69a272f69bff3193e0d1c40ba
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_93_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.0844447743512206,
+              1.0444085276228758
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+            "gripper_position": [
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+              0.07979109057301602,
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+              0.004653683778204576,
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+            "fingertip_source": "active_contact_pad_positions",
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+              0.0603108853575792,
+              1.0444085276228758
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+              1.0444085276228758
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+              0.07237782985439989,
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+              0.012066944496820706,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04926097632278091,
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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": {
+            "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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+                  "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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+              0.08328440151968919,
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+              0.08746778133834195,
+              1.2378004175869677
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007987737533082,
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+            "held_gripper_z_dist": 0.004589966589718886,
+            "max_held_gripper_z_dist": 0.004592770559691539,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08567563261760695,
+            "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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+              0.07482752841791188,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024463247826180735,
+            "held_grasp_world_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": 0.0037059062837398724,
+            "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": [],
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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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+    },
+    {
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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_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15358349266788032,
+            "release_required_pad_clearance": 0.05289339745461047,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8223325340153845,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 93,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "11598ca37d25a0f09a8fb070f514b24369b91d5173e02759ea081e0ba4c2d574",
+    "visual_seed": 3364322574006374990,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_94_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd332fb874c73b48b261dca695fd1b0ae8a724f9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_94_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+              1.046102777259098
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+              0.004615789853296887,
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+            "object_to_gripper_z": -0.004531476624563879,
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+              0.06280379623576532,
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+              1.046102777259098
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+              0.0748929872367115,
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+              1.0
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+            "stable_success_frames": 214,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+        "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,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004635184236317924,
+            "max_held_gripper_z_dist": 0.004637803169510679,
+            "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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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew": 0.02445845200795211,
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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": 0.0036776909301463588,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
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+            "failed_keys": []
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+        },
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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",
+          "passed": true,
+          "metrics": {
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+            "object_z": 0.8470194279243338,
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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": 0.0752935209221605,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08586948394924067,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15340702533978498,
+            "release_required_pad_clearance": 0.052934741974620336,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9065430779189438,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 94,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "033dbd5f4f612679cb98f70132a1186b40dd332fe2a3e8cac6f90ca8348ab537",
+    "visual_seed": 7425545594020495811,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_95_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..031bedb89b03b6d36cb9df7e0e30f01479c818bd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_95_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.24356657019864708,
+              0.08880667706665699,
+              1.04657728858042
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+            "gripper_z": 1.0511374056997538,
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+            "gripper_position": [
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+              0.08397231058422487,
+              1.0511374056997538
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+              0.004834366482432115,
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+            "object_to_gripper_z": -0.004560117119333684,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24356657019864708,
+              0.06429081842416383,
+              1.04657728858042
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+              0.08880667706665699,
+              1.04657728858042
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+              0.0765487477454104,
+              1.04657728858042
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+              0.012257929321246586,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010599516041292731,
+            "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": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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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+        "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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+              0.08786900204105884,
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+              0.0922567718032317,
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008390448294169864,
+            "max_held_gripper_dist": 0.008394918672358774,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0046652053469833366,
+            "max_held_gripper_z_dist": 0.004669839654458885,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0864156146255744,
+            "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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+              1.2391669593428996
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+              0.0795385164490133,
+              1.2391669593428996
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+            "held_grasp_object_position": [
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+              0.0922567718032317,
+              1.2391669593428996
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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": 0.024708857325878655,
+            "held_grasp_world_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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+              -0.9975326087891717,
+              0.019116086852849042
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004058428198246561,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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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",
+        "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": [
+              0.26423166493322153,
+              -0.3776529023803108,
+              0.8470194098112073
+            ],
+            "target_position": [
+              0.2577243662087694,
+              -0.3796721620547433,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006813394625445232,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1849938851225539,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194098112073,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533515841774459,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852740375659158,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15382068309365007,
+            "release_required_pad_clearance": 0.0526370187829579,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3333777073447548,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 95,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1ee34bb984b84090577339d556f9f5a8786b6b1a05d0bf409f6ea74b8c2e463f",
+    "visual_seed": 4327727902218461772,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_96_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aea2ec913ca6a7acd5979b124f68ed671910b6ec
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_96_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24455869618495862,
+              0.08787687060785512,
+              1.0462446880225789
+            ],
+            "current_z": 1.0462446880225789,
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+            "initial_z": 0.7565863285946313,
+            "lift_margin": 0.18965835942794762,
+            "gripper_z": 1.0503443681361808,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2394443144627713,
+              0.08311547806654807,
+              1.0503443681361808
+            ],
+            "object_minus_gripper": [
+              0.005114381722187311,
+              0.004761392541307058,
+              -0.004099680113601956
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+            "object_to_gripper_xy": 0.006987686264612782,
+            "object_to_gripper_z": -0.004099680113601956,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24455869618495862,
+              0.06321315567452694,
+              1.0462446880225789
+            ],
+            "finger_b": [
+              0.233108242075715,
+              0.08787687060785512,
+              1.0462446880225789
+            ],
+            "finger_midpoint": [
+              0.23883346913033682,
+              0.07554501314119103,
+              1.0462446880225789
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057252270546218065,
+              0.012331857466664098,
+              0.0
+            ],
+            "finger_gap": 0.02719212631664485,
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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": 1.0462446880225789,
+            "object_top_z": 1.092255216325042,
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+            "fingertip_min_top_clearance": 0.013803158490738997,
+            "object_projection_between_fingers": 0.8226794445552982,
+            "object_to_finger_line_xy": 0.010385754049497466,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04849587653937465,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6243715525716398,
+            "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/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": [
+              0.24444680391239035,
+              0.08643169156778573,
+              1.2440858832028105
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+            "held_position": [
+              0.24984257159083256,
+              0.0907568411236649,
+              1.2398729933842836
+            ],
+            "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": 0.008097509996504586,
+            "max_held_gripper_dist": 0.008105559423218202,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004212889818526966,
+            "max_held_gripper_z_dist": 0.004216192447354716,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08617592637317537,
+            "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": [
+              0.24984257159083256,
+              0.0652332565284819,
+              1.2398729933842836
+            ],
+            "held_grasp_finger_b": [
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+              0.0907568411236649,
+              1.2398729933842836
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+            "held_grasp_midpoint": [
+              0.24506115886424776,
+              0.0779950488260734,
+              1.2398729933842836
+            ],
+            "held_grasp_object_position": [
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+              0.0907568411236649,
+              1.2398729933842836
+            ],
+            "held_grasp_finger_gap": 0.02725621032416744,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024849959557131828,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06431487761397957,
+              -0.997704354998875,
+              0.021204163123731967
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003960220254292363,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03216021323858041,
+            "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": [
+              0.26426185562244375,
+              -0.37349202910191925,
+              0.847019896327702
+            ],
+            "target_position": [
+              0.25731377562433305,
+              -0.37555386596066137,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00724755040632444,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18672756923068443,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019896327702,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530732345809275,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08593837259050215,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15556307953836185,
+            "release_required_pad_clearance": 0.052969186295251075,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9723604794868529,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 96,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cb9066731623a6c7235e990256c849c8fcca86be0ed9ab30593d7fc72cb6404f",
+    "visual_seed": 7110507820720871021,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_97_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..34456da7855fb5da9b11b26627a3eb07830b216e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_97_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.08917290947654431,
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+              0.07680366331688843,
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+            "fingertip_z_max_dist": 0.1,
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+              1.0
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+            "stable_success_frames": 211,
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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"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "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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+              0.08854990918927359,
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+              0.09298653302657066,
+              1.2365876059704564
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008537210035905652,
+            "max_held_gripper_dist": 0.008542005486880042,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004860667137165153,
+            "max_held_gripper_z_dist": 0.004867149550384031,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0863862289546915,
+            "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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+              0.0675996317585521,
+              1.2365876059704564
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+              0.08029308239256139,
+              1.2365876059704564
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+            "held_grasp_object_position": [
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+              0.09298653302657066,
+              1.2365876059704564
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+            "held_grasp_finger_gap": 0.02729312122807161,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025165728424800776,
+            "held_grasp_world_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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+              -0.9991805927804241,
+              0.0351900146617502
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004776769146501802,
+            "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": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": [
+              0.26471127105654,
+              -0.379935946820232,
+              0.8470190072341027
+            ],
+            "target_position": [
+              0.26018135974949036,
+              -0.38098900343612435,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0046507015262227894,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1860192300831628,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470190072341027,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521774671937817,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08721181631594581,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15502396863735052,
+            "release_required_pad_clearance": 0.053605908157972906,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.215298780306613,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 97,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9aa9ccd291181a035730869c97b209c66b658f443d86d1cdf1eb912e7d7429f0",
+    "visual_seed": 360345378768002993,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_98_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ac61e7e61e9c6a5855c10ec1133c35f9a94a85b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_98_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              1.046788195138599
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+              0.06015905243251419,
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+              1.046788195138599
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+              0.0723026228138534,
+              1.046788195138599
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+              1.0
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+            "stable_success_frames": 214,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "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/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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+        "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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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00834956425105233,
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+            "max_held_gripper_z_dist": 0.0046762489131075835,
+            "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_object_position": [
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02465461123682676,
+            "held_grasp_world_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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+              -0.9964797001557526,
+              0.0246219620959941
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037927025116827715,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": [
+              0.26443279360332445,
+              -0.3765041223719582,
+              0.8470197614844015
+            ],
+            "target_position": [
+              0.25911227434983347,
+              -0.37763872964498496,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005440152460250853,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1862004834604132,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197614844015,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520950281237763,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08618126362820437,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15533720756752606,
+            "release_required_pad_clearance": 0.05309063181410219,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2085105943240664,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 98,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2c6ebf234a31a8e35bd31f0c69a04b413f70f6124048e6831c65d16655e33377",
+    "visual_seed": 2876977409069516771,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_99_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c57756684b2bdcf7438e2e9186ae367606f39f9b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_99_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.2476922532404248,
+              0.08958743058726369,
+              1.0462902907224432
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+            "gripper_z": 1.0508046279710679,
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+              0.0848406499077631,
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+              0.004746780679500587,
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+            "object_to_gripper_z": -0.004514337248624711,
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+              0.06530416731484977,
+              1.0462902907224432
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+              0.07744579895105673,
+              1.0462902907224432
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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
+          },
+          "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"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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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+        "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,
+            "gripper_position": [
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+              0.08849537535269825,
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+              0.09278940432893598,
+              1.23730046761765
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00816244234054658,
+            "max_held_gripper_dist": 0.00816526178575174,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004628848128793939,
+            "max_held_gripper_z_dist": 0.004631869134040567,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08643266268701211,
+            "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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+              0.0674096782818841,
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+            "held_grasp_finger_b": [
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+              0.08009954130541004,
+              1.23730046761765
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+            "held_grasp_object_position": [
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+              0.09278940432893598,
+              1.23730046761765
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+            "held_grasp_finger_gap": 0.027107903404317166,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024589963204627016,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07464953272912181,
+              -0.9968953417607384,
+              0.025042460723032293
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003815087882993367,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032194275896654585,
+            "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": [
+              0.2568203632762056,
+              -0.3807908162406227,
+              0.8470195992685876
+            ],
+            "target_position": [
+              0.2515679821703479,
+              -0.3820869162609844,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005409933691271302,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1841601242477663,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195992685876,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755859147933536,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852634653581212,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15245669406622941,
+            "release_required_pad_clearance": 0.0526317326790606,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.32385097295609466,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 99,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "workflow_spec_digest": "79c649e4f4cf5f17e02f23975f8f24b0bf4e000ea15df7be5e170b67e44e09ff",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3754997f5a25da2f69bcfaa10275e662eff3882dc46e66986cc3e5684bcd888a",
+    "visual_seed": 5104328963178914284,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781
+    ],
+    "runtime_workflow_digest": "1ab8b6a0220d2772c4852a46f3e9efe91ef9351b381ff315f85848a4cf61dfec"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_9_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddc3aa999b4dd3e3c1c3d70db687361dcc7df48f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00000/results/episode_9_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.2429749345238672,
+              0.09279675624123508,
+              1.0433090882261833
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+            "gripper_z": 1.0476321809688518,
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+            "gripper_position": [
+              0.23784933246718085,
+              0.08800997515442145,
+              1.0476321809688518
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+              0.005125602056686357,
+              0.00478678108681363,
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+            "object_to_gripper_z": -0.004323092742668511,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2429749345238672,
+              0.06818743351987736,
+              1.0433090882261833
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+            "finger_b": [
+              0.23141007810527714,
+              0.09279675624123508,
+              1.0433090882261833
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+            "finger_midpoint": [
+              0.23719250631457217,
+              0.08049209488055623,
+              1.0433090882261833
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+              0.005782428209295032,
+              0.012304661360678856,
+              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": 0.04932721655553177,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.135722561448507,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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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": [
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+              0.09182502747341828,
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+            "held_position": [
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+              0.09620479837045849,
+              1.2355866874765542
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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": 0.008237612966285652,
+            "max_held_gripper_dist": 0.0082412282634843,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004436533147376354,
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+}
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+}
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diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ca9fac9437b3acb9bf40bfbc30254f8b2592aa2e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/dataset/meta/randomization_episodes.jsonl
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diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..541edfd19f96336a3fccdddc77a52e4918c5a8c3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/resolved_config.yaml
@@ -0,0 +1,232 @@
+name: fast_2beaker_dual_target_s03_psl_brq_00001
+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 at heater platform.
+  layout_id: layout_00001
+  reproducibility:
+    enabled: true
+    layout_id: layout_00001
+    action_seed: 930985434780052157
+    step_seeds:
+    - 4454205068413497318
+    - 4415600845410333999
+    - 4823626241943975924
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.239
+      - 0.239
+      'y':
+      - -0.0562
+      - -0.0562
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2014
+      - 0.2014
+      'y':
+      - 0.3195
+      - 0.3195
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3411
+      - 0.3411
+      'y':
+      - 0.168
+      - 0.168
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2003
+      - 0.2003
+      'y':
+      - -0.3857
+      - -0.3857
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  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
+  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/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5eae49aba762b6ec9d780623e9671c8adefa52b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_0_success.json
@@ -0,0 +1,686 @@
+{
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+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "726fecb7b5c25d65cfed5790972b273994246d779d5ef83c058fc9366e736559",
+    "visual_seed": 793789118066301266,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_10_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d19f8ab9b0fe0568973d608928f766826f202fc9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_10_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+              0.31910566072932645,
+              1.0452066110289737
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+            "lift_margin": 0.18861992480647383,
+            "gripper_z": 1.0472877554228488,
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+              0.22322656595255833,
+              0.3140692894981298,
+              1.0472877554228488
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+              0.005285359136533607,
+              0.005036371231196657,
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+            "object_to_gripper_z": -0.0020811443938750784,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.22851192508909193,
+              0.2945393843188733,
+              1.0452066110289737
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+              0.31910566072932645,
+              1.0452066110289737
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+              0.30682252252409986,
+              1.0452066110289737
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+              0.012283138205226585,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.01087760762110587,
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+            "fingertip_z_max_dist": 0.1,
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+              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,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.3182078908867118,
+              1.2361176764759874
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+            "held_position": [
+              0.23346753909306905,
+              0.32282754969368604,
+              1.2339482133092121
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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": 0.007590826386155286,
+            "max_held_gripper_dist": 0.007596584290968567,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002169463166775243,
+            "max_held_gripper_z_dist": 0.0022876487032423842,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08732961847579951,
+            "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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+              0.2973181838894815,
+              1.2339482133092121
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+              0.32282754969368604,
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+              0.2283173518573767,
+              0.31007286679158375,
+              1.2339482133092121
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+            "held_grasp_object_position": [
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+              0.32282754969368604,
+              1.2339482133092121
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+            "held_grasp_finger_gap": 0.027510460882789186,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02472301039961526,
+            "held_grasp_world_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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+              -0.997417634162755,
+              0.016293316074589392
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042506475326713694,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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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": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "min_z_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": 0.08520274719209815,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15398222400857692,
+            "release_required_pad_clearance": 0.05260137359604908,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2654077776839449,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e860fe90950020152aee59a622125ad7a718e8d6b3e73bc2aea7ea6487402c3a",
+    "visual_seed": 1750939957256198857,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_11_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8aa26229aebf550636df54a72b1f4fbb92e6bc4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_11_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.32646760310241313,
+              1.0489095829392292
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+            "lift_margin": 0.1923231351353084,
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+            "gripper_position": [
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+              0.32141793766369775,
+              1.0511200367124376
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+              0.005049665438715378,
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+            "object_to_gripper_z": -0.0022104537732083873,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.301486650107579,
+              1.0489095829392292
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+              0.32646760310241313,
+              1.0489095829392292
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+            "finger_midpoint": [
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+              0.3139771266049961,
+              1.0489095829392292
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+              0.012490476497417025,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.010692665242805554,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0484960546274589,
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+            "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,
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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_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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+              0.32593940979799396,
+              1.2383510402136881
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+              0.33067665895086984,
+              1.2360387181536063
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.007802074611023326,
+            "max_held_gripper_dist": 0.0078046018627031324,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002312322060081806,
+            "max_held_gripper_z_dist": 0.0024378829199978025,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08755538450565481,
+            "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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+              0.30508370728999207,
+              1.2360387181536063
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+              0.317880183120431,
+              1.2360387181536063
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+            "held_grasp_object_position": [
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+              0.33067665895086984,
+              1.2360387181536063
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0252084873923856,
+            "held_grasp_world_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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+              -0.9993281310442907,
+              0.010514088411052171
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004779611223586723,
+            "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"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
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+      "physical_semantics": {
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+        "attach_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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+            "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": 0.08653581693987182,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15616334811930588,
+            "release_required_pad_clearance": 0.05326790846993591,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.553649499333807,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "677d4d26ebaeadae332894c0db318cbff183cd447ebca23351b6f5e07301ffd7",
+    "visual_seed": 2779009848026524919,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_12_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ccdbfa835c050ba6b1cf5d7013923a4be55d694
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_12_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2248857695656192,
+              0.3238327079076484,
+              1.0469495743058763
+            ],
+            "current_z": 1.0469495743058763,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19036306689731075,
+            "gripper_z": 1.0492032957053892,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21932913562648745,
+              0.3188091640884538,
+              1.0492032957053892
+            ],
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+              0.00555663393913175,
+              0.00502354381919462,
+              -0.0022537213995128536
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+            "object_to_gripper_xy": 0.0074908059137104395,
+            "object_to_gripper_z": -0.0022537213995128536,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2248857695656192,
+              0.2987852440542891,
+              1.0469495743058763
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+            "finger_b": [
+              0.2131477266483586,
+              0.3238327079076484,
+              1.0469495743058763
+            ],
+            "finger_midpoint": [
+              0.2190167481069889,
+              0.31130897598096874,
+              1.0469495743058763
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+            "object_minus_finger_midpoint": [
+              0.0058690214586303024,
+              0.01252373192667966,
+              0.0
+            ],
+            "finger_gap": 0.02766147315333718,
+            "fingertip_max_gap": 0.09196075927947009,
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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": 1.0926518724317076,
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+            "object_projection_between_fingers": 0.819930244304918,
+            "object_to_finger_line_xy": 0.010628797824666665,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04848037963973505,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8615206400337819,
+            "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/right_inner_finger/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": [
+              0.22389994030467855,
+              0.32350256179124554,
+              1.2381101157250176
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+            "held_position": [
+              0.22966144755513146,
+              0.3282482733770524,
+              1.2357730524811823
+            ],
+            "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": 0.007821675578695985,
+            "max_held_gripper_dist": 0.007823832050317276,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023370632438353134,
+            "max_held_gripper_z_dist": 0.002460116718918881,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08721019971242006,
+            "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": [
+              0.22966144755513146,
+              0.30266823080051547,
+              1.2357730524811823
+            ],
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+              0.21911355725589082,
+              0.3282482733770524,
+              1.2357730524811823
+            ],
+            "held_grasp_midpoint": [
+              0.22438750240551114,
+              0.315458252088784,
+              1.2357730524811823
+            ],
+            "held_grasp_object_position": [
+              0.22966144755513146,
+              0.3282482733770524,
+              1.2357730524811823
+            ],
+            "held_grasp_finger_gap": 0.02766941575064891,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02524238050156708,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.030726507032336738,
+              -0.9994698113002213,
+              0.01076931126358538
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004880431009406886,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032254934889571305,
+            "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"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "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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+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
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+            "min_z_margin": 0.2,
+            "require_object_upright": true,
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+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07512500320323867,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0865981743632394,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15792984936164658,
+            "release_required_pad_clearance": 0.0532990871816197,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6163650170141768,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5bab8a72e222e5f7e4db45d2521fbe73aaac994d9e5bc9a34c6ebee038f47052",
+    "visual_seed": 7812257093946435081,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_13_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..48cbd059a4514ec991e083c3c7d12aeb4c9feada
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_13_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.22729882569287135,
+              0.325667868380208,
+              1.0451686712580097
+            ],
+            "current_z": 1.0451686712580097,
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+            "lift_margin": 0.1885820446401546,
+            "gripper_z": 1.0471456639754,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22179774868757515,
+              0.32067362538788763,
+              1.0471456639754
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+            "object_minus_gripper": [
+              0.005501077005296201,
+              0.004994242992320375,
+              -0.001976992717390269
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+            "object_to_gripper_xy": 0.007429960382434067,
+            "object_to_gripper_z": -0.001976992717390269,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.22729882569287135,
+              0.3008013884999575,
+              1.0451686712580097
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+            "finger_b": [
+              0.21540595090363496,
+              0.325667868380208,
+              1.0451686712580097
+            ],
+            "finger_midpoint": [
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+              0.31323462844008276,
+              1.0451686712580097
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+              0.005946437394618198,
+              0.01243323994012524,
+              0.0
+            ],
+            "finger_gap": 0.02756414867880662,
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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": 0.8138407907506948,
+            "object_to_finger_line_xy": 0.010728933989979067,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04806553880964637,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6919291574969957,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "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": [
+              0.226544933142556,
+              0.32471296741411915,
+              1.2370457189821824
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+            "held_position": [
+              0.23232425932018488,
+              0.3293546126690943,
+              1.2350025485742433
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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": 0.007688954874125493,
+            "max_held_gripper_dist": 0.007691211415437692,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00204317040793911,
+            "max_held_gripper_z_dist": 0.002168957045302067,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0876704441539648,
+            "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": [
+              0.23232425932018488,
+              0.30374395312428465,
+              1.2350025485742433
+            ],
+            "held_grasp_finger_b": [
+              0.2219157932215484,
+              0.3293546126690943,
+              1.2350025485742433
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+            "held_grasp_midpoint": [
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+              0.3165492828966895,
+              1.2350025485742433
+            ],
+            "held_grasp_object_position": [
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+              0.3293546126690943,
+              1.2350025485742433
+            ],
+            "held_grasp_finger_gap": 0.027644928085394187,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02508451517400146,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04765958156398396,
+              -0.9988254409547065,
+              0.008735146637711355
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0045894122562712735,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03216190423982612,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
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+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196895512933,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567523851814935,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08670427240335755,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.155788389985568,
+            "release_required_pad_clearance": 0.05335213620167878,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7200561940713184,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "66a78762743078f3062c5759e47055a18a6e0c22400f388c7a1fb8655c01ee3c",
+    "visual_seed": 449467890741538753,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_14_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4c53f809124d6dfba7bfaa96568ed0414e78f1f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_14_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.22486082738853186,
+              0.31803041985649433,
+              1.0473765259495835
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+            "current_z": 1.0473765259495835,
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+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19078995893637318,
+            "gripper_z": 1.0496246805169678,
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+            "gripper_position": [
+              0.21961990634463743,
+              0.3130156670621866,
+              1.0496246805169678
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+              0.005240921043894425,
+              0.005014752794307742,
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+            "object_to_gripper_xy": 0.007253619715449159,
+            "object_to_gripper_z": -0.002248154567384253,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.29351274755198575,
+              1.0473765259495835
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+            "finger_b": [
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+              1.0473765259495835
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+              0.30577158370424007,
+              1.0473765259495835
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+              0.01225883615225426,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.010871111488080407,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04779182218060951,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.25193853805296273,
+            "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": {
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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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+      },
+      "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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+              0.31751643703294263,
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+              0.3221161748077539,
+              1.2384631807513118
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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": 0.007593864323397056,
+            "max_held_gripper_dist": 0.007597201727410219,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002309580782101861,
+            "max_held_gripper_z_dist": 0.002423822144303811,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08789607700969537,
+            "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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+              0.2966264978326159,
+              1.2384631807513118
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+              0.3093713363201849,
+              1.2384631807513118
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+            "held_grasp_object_position": [
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+              0.3221161748077539,
+              1.2384631807513118
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+            "held_grasp_finger_gap": 0.02750724359262735,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0247014927764302,
+            "held_grasp_world_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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+              -0.9974919763671104,
+              0.01019857663391299
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004266900337867342,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03212522309113625,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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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": [
+              0.26308030315089287,
+              -0.38628476005308265,
+              0.8470195765828392
+            ],
+            "target_position": [
+              0.2562458456315607,
+              -0.38838181927308446,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007148948660869676,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18708632811669118,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195765828392,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575626361932397,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08556073300765775,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15494167849120613,
+            "release_required_pad_clearance": 0.05278036650382888,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6090912518458287,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c2b8b6a1ba613f478e6aa5eb2ff626fe699ef0503c09d4176414d4b388cabaa3",
+    "visual_seed": 3484304249911666437,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_15_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..807cff0ee9464221af56d6189fa47ee74c400596
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_15_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22995700466193308,
+              0.3226698550528583,
+              1.0486245465841137
+            ],
+            "current_z": 1.0486245465841137,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.19203791996625863,
+            "gripper_z": 1.050681585536336,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2244698270506043,
+              0.3177117036178097,
+              1.050681585536336
+            ],
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+              0.005487177611328775,
+              0.0049581514350485745,
+              -0.002057038952222312
+            ],
+            "object_to_gripper_xy": 0.007395429926051764,
+            "object_to_gripper_z": -0.002057038952222312,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22995700466193308,
+              0.29771650385201387,
+              1.0486245465841137
+            ],
+            "finger_b": [
+              0.2182541242676471,
+              0.3226698550528583,
+              1.0486245465841137
+            ],
+            "finger_midpoint": [
+              0.22410556446479007,
+              0.3101931794524361,
+              1.0486245465841137
+            ],
+            "object_minus_finger_midpoint": [
+              0.00585144019714301,
+              0.012476675600422205,
+              0.0
+            ],
+            "finger_gap": 0.02756133425064263,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013780667125321321,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0486245465841137,
+            "object_top_z": 1.0951335205989399,
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+            "fingertip_min_top_clearance": 0.013952692204447836,
+            "object_projection_between_fingers": 0.8197044295973028,
+            "object_to_finger_line_xy": 0.010595498820355044,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049470910326447945,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6453379040597276,
+            "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": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2290787269686144,
+              0.32240580528010937,
+              1.2406222013550867
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+            "held_position": [
+              0.2347755101092378,
+              0.32709230615980195,
+              1.2385022547377404
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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": 0.007675337276436023,
+            "max_held_gripper_dist": 0.0076768390238824485,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002119946617346269,
+            "max_held_gripper_z_dist": 0.00224458407208572,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08703297736548904,
+            "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": [
+              0.2347755101092378,
+              0.3015844285661124,
+              1.2385022547377404
+            ],
+            "held_grasp_finger_b": [
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+              0.32709230615980195,
+              1.2385022547377404
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+            "held_grasp_midpoint": [
+              0.22950238807519735,
+              0.31433836736295717,
+              1.2385022547377404
+            ],
+            "held_grasp_object_position": [
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+              0.32709230615980195,
+              1.2385022547377404
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+            "held_grasp_finger_gap": 0.027602084763259836,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02528193002447688,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.020419569755944784,
+              -0.9995845282398603,
+              0.02034237140743511
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005018360402742616,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03234391018716094,
+            "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": [
+              0.25447058403267897,
+              -0.38371880792068724,
+              0.8470192394067146
+            ],
+            "target_position": [
+              0.24867801603594147,
+              -0.38553335592372395,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006070125900848512,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1846461115174119,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192394067146,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551968898992162,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08761235268765237,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15312016803473755,
+            "release_required_pad_clearance": 0.05380617634382619,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.61970484056267,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fffa93b877529b47bd385e3856d8df4215099ad48ce0e441d0a6753f7e6d5c97",
+    "visual_seed": 6285256495669739265,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_16_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8538ed526ab643c4037549ef564ad6f142d0bd87
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_16_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+            "active_arm": null,
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+              0.32017150695730545,
+              1.0478309324429105
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+            "gripper_z": 1.0501541813902344,
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+            "gripper_position": [
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+              0.315103037473803,
+              1.0501541813902344
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+              0.005068469483502425,
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+            "object_to_gripper_z": -0.0023232489473239415,
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+              0.29543066365209253,
+              1.0478309324429105
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+              0.32017150695730545,
+              1.0478309324429105
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+              0.30780108530469896,
+              1.0478309324429105
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+              0.01237042165260649,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_projection_between_fingers": 0.806684169358494,
+            "object_to_finger_line_xy": 0.010877978814100051,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047921513925378495,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.45692393061041475,
+            "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": []
+          }
+        },
+        "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": [
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+              0.31985497552727205,
+              1.240943626535266
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+            "held_position": [
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+              0.3245662125708547,
+              1.2385717596120545
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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": 0.007801565242913889,
+            "max_held_gripper_dist": 0.007804710490615623,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002371866923211563,
+            "max_held_gripper_z_dist": 0.0024912947405095753,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.087070544727533,
+            "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": [
+              0.2292341680556058,
+              0.2990401996698742,
+              1.2385717596120545
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+            "held_grasp_finger_b": [
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+              0.3245662125708547,
+              1.2385717596120545
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+            "held_grasp_midpoint": [
+              0.22391034715538194,
+              0.3118032061203645,
+              1.2385717596120545
+            ],
+            "held_grasp_object_position": [
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+              0.3245662125708547,
+              1.2385717596120545
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+            "held_grasp_finger_gap": 0.027657722439341694,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024926912773107827,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05285348299371453,
+              -0.9985765433406897,
+              0.007169130016453695
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004642731975719633,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032174003624433734,
+            "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": [
+              0.25877810109510485,
+              -0.379221446238835,
+              0.8470194892438984
+            ],
+            "target_position": [
+              0.25065719022316724,
+              -0.38219640029219193,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008648673020153971,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18951982327289715,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194892438984,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519601794735398,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08596260182820491,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15885718990810926,
+            "release_required_pad_clearance": 0.052981300914102455,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9970017250496286,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "20dd7428ddc7f2242d8b3f851a7195f59dc5bda86126ab4236ee488338109b55",
+    "visual_seed": 2367821848941587443,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_17_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd8516061f47c0cf296576ea8fee5e9567abd0fe
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_17_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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,
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+              0.22720806344549543,
+              0.3262044865851079,
+              1.046877631405422
+            ],
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+            "lift_margin": 0.1902911836015012,
+            "gripper_z": 1.0487267892731282,
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+            "gripper_position": [
+              0.22203079568577636,
+              0.3212548014656964,
+              1.0487267892731282
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+              0.004949685119411518,
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+            "object_to_gripper_z": -0.0018491578677062304,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.22720806344549543,
+              0.30166728126902337,
+              1.046877631405422
+            ],
+            "finger_b": [
+              0.2152630286052616,
+              0.3262044865851079,
+              1.046877631405422
+            ],
+            "finger_midpoint": [
+              0.22123554602537854,
+              0.3139358839270656,
+              1.046877631405422
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+              0.005972517420116896,
+              0.012268602658042305,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.01074001384305633,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04776100238397818,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2500262212842149,
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+            "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": {
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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"
+                }
+              ],
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+              "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": [
+              0.22673944140011335,
+              0.3256634623821522,
+              1.2392627069819218
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+            "held_position": [
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+              0.3302268465420127,
+              1.2373558288162168
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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": 0.007403419770085504,
+            "max_held_gripper_dist": 0.007404925814213836,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001906878165705006,
+            "max_held_gripper_z_dist": 0.0020275860629701548,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08720685120369914,
+            "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": [
+              0.23224852162849857,
+              0.3047614092387267,
+              1.2373558288162168
+            ],
+            "held_grasp_finger_b": [
+              0.22198475570109455,
+              0.3302268465420127,
+              1.2373558288162168
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+            "held_grasp_midpoint": [
+              0.22711663866479656,
+              0.3174941278903697,
+              1.2373558288162168
+            ],
+            "held_grasp_object_position": [
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+              0.3302268465420127,
+              1.2373558288162168
+            ],
+            "held_grasp_finger_gap": 0.02745602644338997,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024699553819407815,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06874559892740204,
+              -0.9976322908878403,
+              0.001963365985319543
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00424449936669013,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03214485932017681,
+            "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": [
+              0.2560528836005458,
+              -0.37946268233312686,
+              0.8470194572754
+            ],
+            "target_position": [
+              0.2483995791843533,
+              -0.3822925637792081,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008159736361291739,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18787472815689374,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194572754,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553767259840011,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08504190443618305,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15625239454873163,
+            "release_required_pad_clearance": 0.05252095221809153,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.11190516363794689,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0c9c5c2dc9c3713d7d8f7e894290c00106918936f047475ce27da0614d74be84",
+    "visual_seed": 4383033878479176653,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_18_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff7f894221d1326bc22f02659457a476ed45b667
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_18_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.22529380629750015,
+              0.32605433736811357,
+              1.0459543571729186
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+            "lift_margin": 0.18936779015970828,
+            "gripper_z": 1.0479209671343865,
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+              0.2198618487906077,
+              0.32111991712426885,
+              1.0479209671343865
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+              0.00543195750689246,
+              0.004934420243844717,
+              -0.0019666099614679133
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+            "object_to_gripper_z": -0.0019666099614679133,
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+              0.3011301425395694,
+              1.0459543571729186
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+              0.21363595674773933,
+              0.32605433736811357,
+              1.0459543571729186
+            ],
+            "finger_midpoint": [
+              0.21946488152261973,
+              0.31359223995384145,
+              1.0459543571729186
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+              0.005828924774880423,
+              0.012462097414272122,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.8204970325993903,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04832354733704229,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9655086100309123,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22448496682570182,
+              0.3256203068839672,
+              1.2384395703496525
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+            "held_position": [
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+              0.33026791656111815,
+              1.2364155883974102
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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": 0.007597214631677479,
+            "max_held_gripper_dist": 0.0075991016932503526,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002023981952242293,
+            "max_held_gripper_z_dist": 0.0021471799086747456,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0872187706302407,
+            "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": [
+              0.2301436673395676,
+              0.30473845593604154,
+              1.2364155883974102
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+            "held_grasp_finger_b": [
+              0.2197049178487051,
+              0.33026791656111815,
+              1.2364155883974102
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+            "held_grasp_midpoint": [
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+              0.31750318624857987,
+              1.2364155883974102
+            ],
+            "held_grasp_object_position": [
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+              0.33026791656111815,
+              1.2364155883974102
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+            "held_grasp_finger_gap": 0.027581168407816204,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025176840822939275,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03238921237075054,
+              -0.9994313656600147,
+              0.00937466036509138
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004804706903813424,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032273701680196526,
+            "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": [
+              0.25882633845672165,
+              -0.3819523009817577,
+              0.8470201371808699
+            ],
+            "target_position": [
+              0.25238956304378524,
+              -0.38406516270170915,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006774678026609009,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18535519295218392,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470201371808699,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558089564675148,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08728001008785995,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15357538935718515,
+            "release_required_pad_clearance": 0.053640005043929975,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2882996840813155,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5e94e320a6099e21dc91b1dcfee3ef31008c607c9131b40fa5bbc51b4fb5e4ca",
+    "visual_seed": 6213294618824907538,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_19_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e27af947b9abdd969f9b6dc64c95458f6e1e9e1d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_19_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 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": [
+              0.2309195394083036,
+              0.32817211289457615,
+              1.0464229418638111
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+            "current_z": 1.0464229418638111,
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+            "gripper_z": 1.0483120490732498,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22557970021451063,
+              0.3230971210977276,
+              1.0483120490732498
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+              0.005339839193792967,
+              0.00507499179684856,
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+            "object_to_gripper_z": -0.0018891072094386896,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2309195394083036,
+              0.3036123874800743,
+              1.0464229418638111
+            ],
+            "finger_b": [
+              0.21867006376926115,
+              0.32817211289457615,
+              1.0464229418638111
+            ],
+            "finger_midpoint": [
+              0.22479480158878237,
+              0.31589225018732525,
+              1.0464229418638111
+            ],
+            "object_minus_finger_midpoint": [
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+              0.0122798627072509,
+              0.0
+            ],
+            "finger_gap": 0.027445031715544115,
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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": 0.010961683749708418,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04840647424751453,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6494622700221847,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/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": [
+              0.23042778330298067,
+              0.32708595652394123,
+              1.236047317755016
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+            "held_position": [
+              0.23613763502998902,
+              0.3317059222794431,
+              1.2340564922244563
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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": 0.0076098539157830394,
+            "max_held_gripper_dist": 0.0076119062590229115,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0019908255305596256,
+            "max_held_gripper_z_dist": 0.0021196118466184632,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08743451040306793,
+            "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": [
+              0.23613763502998902,
+              0.30613328308880305,
+              1.2340564922244563
+            ],
+            "held_grasp_finger_b": [
+              0.22586865266860934,
+              0.3317059222794431,
+              1.2340564922244563
+            ],
+            "held_grasp_midpoint": [
+              0.23100314384929918,
+              0.3189196026841231,
+              1.2340564922244563
+            ],
+            "held_grasp_object_position": [
+              0.23613763502998902,
+              0.3317059222794431,
+              1.2340564922244563
+            ],
+            "held_grasp_finger_gap": 0.027557428652052924,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024698408792372593,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07719639288320301,
+              -0.996812921780183,
+              0.020117551985196824
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004140358793725756,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03205829217274473,
+            "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": [
+              0.26421587058562035,
+              -0.3814051045645177,
+              0.8470195786362427
+            ],
+            "target_position": [
+              0.2572784384821643,
+              -0.3835772546189056,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00726953919095564,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1885373082675732,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195786362427,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584186390715672,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08560740922782122,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15612817253335778,
+            "release_required_pad_clearance": 0.05280370461391061,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6537166829466585,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2fcbc19c71c8be48fd773d7f172f1ac626b05b3624983de035c607a5bc1d6b70",
+    "visual_seed": 8153237723072870321,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_1_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c824b7db7b0dcb3da434052b58a050cafc0d1f9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_1_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 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": [
+              0.22578274629110162,
+              0.31885043744552527,
+              1.0455445433840826
+            ],
+            "current_z": 1.0455445433840826,
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+            "initial_z": 0.7565866266178553,
+            "lift_margin": 0.18895791676622742,
+            "gripper_z": 1.0477804204311292,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22060664129594354,
+              0.3138622707104172,
+              1.0477804204311292
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+            "object_minus_gripper": [
+              0.005176104995158082,
+              0.004988166735108046,
+              -0.0022358770470465306
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+            "object_to_gripper_xy": 0.0071884539574333306,
+            "object_to_gripper_z": -0.0022358770470465306,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22578274629110162,
+              0.2943670560859425,
+              1.0455445433840826
+            ],
+            "finger_b": [
+              0.213712653055723,
+              0.31885043744552527,
+              1.0455445433840826
+            ],
+            "finger_midpoint": [
+              0.21974769967341232,
+              0.3066087467657339,
+              1.0455445433840826
+            ],
+            "object_minus_finger_midpoint": [
+              0.006035046617689305,
+              0.012241690679791362,
+              0.0
+            ],
+            "finger_gap": 0.02729694329974508,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013648471649872516,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0914997579353742,
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+            "fingertip_min_top_clearance": 0.01378656436538751,
+            "object_projection_between_fingers": 0.8044790879931878,
+            "object_to_finger_line_xy": 0.010825999544434523,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048240469788495804,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5414786624413876,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": "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": [
+              0.2252471733356878,
+              0.3180077029288554,
+              1.2384201146760765
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+            "held_position": [
+              0.2307677429415087,
+              0.3225766904641803,
+              1.2361177134106072
+            ],
+            "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": 0.007526844455540629,
+            "max_held_gripper_dist": 0.007533908793721961,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023024012654693227,
+            "max_held_gripper_z_dist": 0.0024168279888505673,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08733153904331126,
+            "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": [
+              0.2307677429415087,
+              0.2971010655392133,
+              1.2361177134106072
+            ],
+            "held_grasp_finger_b": [
+              0.22053414924350478,
+              0.3225766904641803,
+              1.2361177134106072
+            ],
+            "held_grasp_midpoint": [
+              0.22565094609250674,
+              0.3098388780016968,
+              1.2361177134106072
+            ],
+            "held_grasp_object_position": [
+              0.2307677429415087,
+              0.3225766904641803,
+              1.2361177134106072
+            ],
+            "held_grasp_finger_gap": 0.02745421470910116,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024676196025466234,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07142176246381765,
+              -0.9973100718254189,
+              0.016478849539336093
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004199372969013108,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0321312256548276,
+            "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": [
+              0.262992161459415,
+              -0.38028436727111914,
+              0.8470196261450057
+            ],
+            "target_position": [
+              0.2562383112736557,
+              -0.38245953976557023,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007095482204353526,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18513738748463188,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196261450057,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547233507334256,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08539827280984745,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15364157816175797,
+            "release_required_pad_clearance": 0.05269913640492373,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4528387434204044,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "39d3651dfc38e5ef2d794428d6fdc3f182c6a7fae25a15534caa9046d9f2880f",
+    "visual_seed": 5823104510894645705,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_20_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c56e03a498aa8b66dc61600313848f0c3a005c2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_20_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23074406462266409,
+              0.3178494365999818,
+              1.0457165987951906
+            ],
+            "current_z": 1.0457165987951906,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18913009138662507,
+            "gripper_z": 1.0478303518609364,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22544785351948543,
+              0.3128089555829391,
+              1.0478303518609364
+            ],
+            "object_minus_gripper": [
+              0.005296211103178655,
+              0.005040481017042742,
+              -0.0021137530657457937
+            ],
+            "object_to_gripper_xy": 0.007311381602173497,
+            "object_to_gripper_z": -0.0021137530657457937,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23074406462266409,
+              0.2932724812280288,
+              1.0457165987951906
+            ],
+            "finger_b": [
+              0.2186110200155072,
+              0.3178494365999818,
+              1.0457165987951906
+            ],
+            "finger_midpoint": [
+              0.22467754231908565,
+              0.3055609589140053,
+              1.0457165987951906
+            ],
+            "object_minus_finger_midpoint": [
+              0.006066522303578431,
+              0.012288477685976518,
+              0.0
+            ],
+            "finger_gap": 0.027408712242537592,
+            "fingertip_max_gap": 0.09157392477800427,
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+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01370435612126879,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0457165987951906,
+            "object_top_z": 1.091736726458573,
+            "finger_top_clearance": 0.04602012766338226,
+            "fingertip_min_top_clearance": 0.013806038299014677,
+            "object_projection_between_fingers": 0.8040423033889054,
+            "object_to_finger_line_xy": 0.01087950769803852,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04828696238900214,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5600956353424562,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": [
+              0.2300875208381037,
+              0.3170001074888454,
+              1.2367596112905068
+            ],
+            "held_position": [
+              0.23571390580273574,
+              0.32162723666519727,
+              1.2345589737608857
+            ],
+            "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": 0.007609818507800383,
+            "max_held_gripper_dist": 0.007615269615699714,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022006375296210745,
+            "max_held_gripper_z_dist": 0.00231881494494246,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08732291649978718,
+            "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": [
+              0.23571390580273574,
+              0.29611916024334944,
+              1.2345589737608857
+            ],
+            "held_grasp_finger_b": [
+              0.22538851740007207,
+              0.32162723666519727,
+              1.2345589737608857
+            ],
+            "held_grasp_midpoint": [
+              0.2305512116014039,
+              0.30887319845427336,
+              1.2345589737608857
+            ],
+            "held_grasp_object_position": [
+              0.23571390580273574,
+              0.32162723666519727,
+              1.2345589737608857
+            ],
+            "held_grasp_finger_gap": 0.027518641107596328,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024727609598095942,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06926267426210325,
+              -0.9974399163187171,
+              0.01778469252397941
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004273110916055409,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03212125615319941,
+            "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": [
+              0.26014518049513113,
+              -0.37955762791639513,
+              0.8470195426892908
+            ],
+            "target_position": [
+              0.2531744504140332,
+              -0.3817200551398782,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00729843609003905,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18516899303050552,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195426892908,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551666766782912,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08505528664983365,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1536104357888356,
+            "release_required_pad_clearance": 0.05252764332491683,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1251144917348369,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d6fe1e22fb64434bd4a3adccad73dc52c863432986b3bee39ee28817db430d9b",
+    "visual_seed": 1049428381920243667,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_21_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..961539858b6d828d36688543a80bde5897eb3d52
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_21_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22830499259945075,
+              0.3268771019796918,
+              1.0475569551054968
+            ],
+            "current_z": 1.0475569551054968,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19097050730157605,
+            "gripper_z": 1.049722113518661,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22257165719998073,
+              0.3216942313635748,
+              1.049722113518661
+            ],
+            "object_minus_gripper": [
+              0.005733335399470019,
+              0.005182870616116997,
+              -0.0021651584131641144
+            ],
+            "object_to_gripper_xy": 0.007728730984205946,
+            "object_to_gripper_z": -0.0021651584131641144,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22830499259945075,
+              0.3019556710858072,
+              1.0475569551054968
+            ],
+            "finger_b": [
+              0.21600707820042203,
+              0.3268771019796918,
+              1.0475569551054968
+            ],
+            "finger_midpoint": [
+              0.2221560353999364,
+              0.3144163865327495,
+              1.0475569551054968
+            ],
+            "object_minus_finger_midpoint": [
+              0.00614895719951436,
+              0.012460715446942272,
+              0.0
+            ],
+            "finger_gap": 0.02779058143264555,
+            "fingertip_max_gap": 0.09144764131884886,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01389529071632275,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0475569551054968,
+            "object_top_z": 1.093136456227771,
+            "finger_top_clearance": 0.04557950112227416,
+            "fingertip_min_top_clearance": 0.01367385033668228,
+            "object_projection_between_fingers": 0.8041752119192828,
+            "object_to_finger_line_xy": 0.011028255186999418,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04822382065942443,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6347919767932391,
+            "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"
+              ],
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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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/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": [
+              0.22729928143141795,
+              0.3262433978329312,
+              1.240238239070908
+            ],
+            "held_position": [
+              0.2333366167512951,
+              0.3310480901758408,
+              1.2380189785411022
+            ],
+            "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": 0.008028673836556305,
+            "max_held_gripper_dist": 0.00803013236493384,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022192605298057,
+            "max_held_gripper_z_dist": 0.0023530086575334064,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08728867711452365,
+            "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": [
+              0.2333366167512951,
+              0.305358229821175,
+              1.2380189785411022
+            ],
+            "held_grasp_finger_b": [
+              0.2225142914841187,
+              0.3310480901758408,
+              1.2380189785411022
+            ],
+            "held_grasp_midpoint": [
+              0.2279254541177069,
+              0.3182031599985079,
+              1.2380189785411022
+            ],
+            "held_grasp_object_position": [
+              0.2333366167512951,
+              0.3310480901758408,
+              1.2380189785411022
+            ],
+            "held_grasp_finger_gap": 0.027876363629978623,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025110681146878717,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05041212160996156,
+              -0.9986919808106497,
+              0.00854081139490359
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004758033979811032,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032099308014899956,
+            "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": [
+              0.2610420559917836,
+              -0.38646066363446496,
+              0.847019521559652
+            ],
+            "target_position": [
+              0.25398802827633554,
+              -0.3889213907344834,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0074709092399168125,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1860668083724929,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019521559652,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571312196218728,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08661619478821385,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1540723033452193,
+            "release_required_pad_clearance": 0.053308097394106926,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6341836834774435,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1065c9a9a6af755911b17edc6ba199714e351eed2374603acf55f2cf98a6610f",
+    "visual_seed": 3225733989095864595,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_22_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0abe83a558599049f959464246d89a97b3f57b3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_22_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22852135516652078,
+              0.32040006048931136,
+              1.0483138500650304
+            ],
+            "current_z": 1.0483138500650304,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.1917272234471753,
+            "gripper_z": 1.050719240397134,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2229252389810494,
+              0.3152097462334337,
+              1.050719240397134
+            ],
+            "object_minus_gripper": [
+              0.005596116185471373,
+              0.005190314255877682,
+              -0.0024053903321035186
+            ],
+            "object_to_gripper_xy": 0.007632553860672178,
+            "object_to_gripper_z": -0.0024053903321035186,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22852135516652078,
+              0.29558869982604047,
+              1.0483138500650304
+            ],
+            "finger_b": [
+              0.21619324566049247,
+              0.32040006048931136,
+              1.0483138500650304
+            ],
+            "finger_midpoint": [
+              0.22235730041350663,
+              0.3079943801576759,
+              1.0483138500650304
+            ],
+            "object_minus_finger_midpoint": [
+              0.006164054753014153,
+              0.012405680331635471,
+              0.0
+            ],
+            "finger_gap": 0.02770534067568077,
+            "fingertip_max_gap": 0.09448273107727942,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013852670337840411,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0483138500650304,
+            "object_top_z": 1.0955663499559702,
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+            "fingertip_min_top_clearance": 0.014175749967281914,
+            "object_projection_between_fingers": 0.801999641205721,
+            "object_to_finger_line_xy": 0.011040368527893965,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04974136553863971,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5093130848444734,
+            "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": []
+          }
+        },
+        "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": [
+              0.2277579264578563,
+              0.31931438113199806,
+              1.2407585147262978
+            ],
+            "held_position": [
+              0.23369415847791797,
+              0.32407464642258044,
+              1.2382784080783897
+            ],
+            "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": 0.008003118468305127,
+            "max_held_gripper_dist": 0.008004179928147335,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002480106647908098,
+            "max_held_gripper_z_dist": 0.0026026323612355906,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08771857414031325,
+            "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": [
+              0.23369415847791797,
+              0.2983628550643537,
+              1.2382784080783897
+            ],
+            "held_grasp_finger_b": [
+              0.22311508937705168,
+              0.32407464642258044,
+              1.2382784080783897
+            ],
+            "held_grasp_midpoint": [
+              0.22840462392748484,
+              0.31121875074346705,
+              1.2382784080783897
+            ],
+            "held_grasp_object_position": [
+              0.23369415847791797,
+              0.32407464642258044,
+              1.2382784080783897
+            ],
+            "held_grasp_finger_gap": 0.02780310986004777,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025034075731643794,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05867404974802487,
+              -0.997783164965958,
+              0.03140241386712694
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004544516598195502,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032062470273276855,
+            "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": [
+              0.25524214080935514,
+              -0.38650240184689744,
+              0.8470199198444112
+            ],
+            "target_position": [
+              0.25012817226981443,
+              -0.3873854615614974,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005189650150343618,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.186190412146302,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470199198444112,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520542777584467,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08580131250253549,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1551865240833842,
+            "release_required_pad_clearance": 0.05290065625126775,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8402273973270127,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b1e27ecb4673e2d85ec159c48520edd0830023f206d97a45ce75758f0ad9c32e",
+    "visual_seed": 6491532643501444905,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_23_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7246aaee6e38a14e078dafc995a78342f45d5cd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_23_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2291115605383339,
+              0.3218459536331826,
+              1.0483540433631438
+            ],
+            "current_z": 1.0483540433631438,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.1917674763499334,
+            "gripper_z": 1.0502826435549506,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22379090246126587,
+              0.316888909792424,
+              1.0502826435549506
+            ],
+            "object_minus_gripper": [
+              0.0053206580770680245,
+              0.004957043840758568,
+              -0.0019286001918068507
+            ],
+            "object_to_gripper_xy": 0.007271979511265943,
+            "object_to_gripper_z": -0.0019286001918068507,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2291115605383339,
+              0.2970959693301604,
+              1.0483540433631438
+            ],
+            "finger_b": [
+              0.21729308941800643,
+              0.3218459536331826,
+              1.0483540433631438
+            ],
+            "finger_midpoint": [
+              0.22320232497817016,
+              0.3094709614816715,
+              1.0483540433631438
+            ],
+            "object_minus_finger_midpoint": [
+              0.005909235560163734,
+              0.012374992151511055,
+              0.0
+            ],
+            "finger_gap": 0.027426957224997783,
+            "fingertip_max_gap": 0.09067891180024037,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013713478612498865,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0483540433631438,
+            "object_top_z": 1.0937300703122816,
+            "finger_top_clearance": 0.04537602694913789,
+            "fingertip_min_top_clearance": 0.013612808084741367,
+            "object_projection_between_fingers": 0.8143190548087117,
+            "object_to_finger_line_xy": 0.01066494443092016,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04783945590012019,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3172594965622408,
+            "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"
+              ],
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+              ],
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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": "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": [
+              0.22862106428037324,
+              0.32077764133500963,
+              1.2379248213852379
+            ],
+            "held_position": [
+              0.23422943629340534,
+              0.32536434299352657,
+              1.235896636145039
+            ],
+            "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": 0.007523643007836319,
+            "max_held_gripper_dist": 0.007526017639596504,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0020281852401988765,
+            "max_held_gripper_z_dist": 0.0021484061405050436,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08768634993938274,
+            "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": [
+              0.23422943629340534,
+              0.2998133449439237,
+              1.235896636145039
+            ],
+            "held_grasp_finger_b": [
+              0.22407684284368468,
+              0.32536434299352657,
+              1.235896636145039
+            ],
+            "held_grasp_midpoint": [
+              0.229153139568545,
+              0.3125888439687251,
+              1.235896636145039
+            ],
+            "held_grasp_object_position": [
+              0.23422943629340534,
+              0.32536434299352657,
+              1.235896636145039
+            ],
+            "held_grasp_finger_gap": 0.02749415674440881,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02490970052455598,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05870434058292139,
+              -0.9982272230115389,
+              0.009808752999032722
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004319425560773336,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032149373399860445,
+            "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": [
+              0.26525643863522486,
+              -0.3784278709932207,
+              0.847020439686408
+            ],
+            "target_position": [
+              0.2561347562979374,
+              -0.38134193300202,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009575847014938627,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1896060395686227,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847020439686408,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543809683295923,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08624226274715276,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15822270110727818,
+            "release_required_pad_clearance": 0.05312113137357638,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.267311686015034,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6f8047b21583720826064e771a5fcec44bc40403f2407711e9e063a41e2dbf18",
+    "visual_seed": 3792479925568980541,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_24_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..570f599f9829325623347f3e1daa4a781363ffb3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_24_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22634774296679552,
+              0.32080022078813336,
+              1.0473553658494994
+            ],
+            "current_z": 1.0473553658494994,
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+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19076879883628906,
+            "gripper_z": 1.0496947784552408,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22099565825003276,
+              0.3156987911970286,
+              1.0496947784552408
+            ],
+            "object_minus_gripper": [
+              0.005352084716762767,
+              0.005101429591104767,
+              -0.002339412605741442
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+            "object_to_gripper_xy": 0.007393875485048753,
+            "object_to_gripper_z": -0.002339412605741442,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22634774296679552,
+              0.2963130803369822,
+              1.0473553658494994
+            ],
+            "finger_b": [
+              0.21395142062179662,
+              0.32080022078813336,
+              1.0473553658494994
+            ],
+            "finger_midpoint": [
+              0.22014958179429606,
+              0.30855665056255777,
+              1.0473553658494994
+            ],
+            "object_minus_finger_midpoint": [
+              0.006198161172499467,
+              0.012243570225575595,
+              0.0
+            ],
+            "finger_gap": 0.027446108196892346,
+            "fingertip_max_gap": 0.09138061811713247,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013723054098446206,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0473553658494994,
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+              0.0,
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+            "required_stable_lift_frames": 5
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.22577033758832704,
+              0.3200503543813738,
+              1.239020631600945
+            ],
+            "held_position": [
+              0.2314952032610347,
+              0.3246857434451283,
+              1.2365983830958174
+            ],
+            "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": 0.007754237974392768,
+            "max_held_gripper_dist": 0.007758051806181732,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002422248505127733,
+            "max_held_gripper_z_dist": 0.0025417304006654096,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08737383758807676,
+            "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": [
+              0.2314952032610347,
+              0.2991429447617632,
+              1.2365983830958174
+            ],
+            "held_grasp_finger_b": [
+              0.22108974250295693,
+              0.3246857434451283,
+              1.2365983830958174
+            ],
+            "held_grasp_midpoint": [
+              0.22629247288199583,
+              0.31191434410344576,
+              1.2365983830958174
+            ],
+            "held_grasp_object_position": [
+              0.2314952032610347,
+              0.3246857434451283,
+              1.2365983830958174
+            ],
+            "held_grasp_finger_gap": 0.027580938674505177,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02464888997167242,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07805484541129452,
+              -0.996800973855662,
+              0.017183120444869585
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004195913675828588,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032063583349069516,
+            "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": [
+              0.26339017791193264,
+              -0.38788659351924054,
+              0.8470195531633011
+            ],
+            "target_position": [
+              0.2571857253557331,
+              -0.3896581820560757,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006452422604415882,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18650967573379063,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195531633011,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589674833967773,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08546101385107137,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15385438998489154,
+            "release_required_pad_clearance": 0.052730506925535686,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5128172189670274,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dbd6c58da691f19bf9f2824fa0e1b303083122a808837f7f8ee42dcb45fb26f8",
+    "visual_seed": 1904239364815831684,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_25_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbfa4aa87fa5880057a698c05bcfcd25c99e3d53
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_25_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22463667988451716,
+              0.31742294637496643,
+              1.0464396090455683
+            ],
+            "current_z": 1.0464396090455683,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.1898529824277132,
+            "gripper_z": 1.0487117470430838,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21947795387878544,
+              0.31241411866022867,
+              1.0487117470430838
+            ],
+            "object_minus_gripper": [
+              0.005158726005731723,
+              0.0050088277147377624,
+              -0.0022721379975154665
+            ],
+            "object_to_gripper_xy": 0.007190327466683134,
+            "object_to_gripper_z": -0.0022721379975154665,
+            "fingertip_source": "active_contact_pad_positions",
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+            "required_stable_lift_frames": 5
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": 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": "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": [
+              0.2242205154093466,
+              0.3163851208361041,
+              1.2383464026434834
+            ],
+            "held_position": [
+              0.2297610076843292,
+              0.32092483210975714,
+              1.2359895483823589
+            ],
+            "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": 0.0075406097303504106,
+            "max_held_gripper_dist": 0.007543080784923583,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023568542611245302,
+            "max_held_gripper_z_dist": 0.002469290961120807,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08768448615919727,
+            "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": [
+              0.2297610076843292,
+              0.2954349783284808,
+              1.2359895483823589
+            ],
+            "held_grasp_finger_b": [
+              0.21961608841255728,
+              0.32092483210975714,
+              1.2359895483823589
+            ],
+            "held_grasp_midpoint": [
+              0.22468854804844324,
+              0.308179905219119,
+              1.2359895483823589
+            ],
+            "held_grasp_object_position": [
+              0.2297610076843292,
+              0.32092483210975714,
+              1.2359895483823589
+            ],
+            "held_grasp_finger_gap": 0.027434504420922504,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02460285480262835,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07920410053679383,
+              -0.9967249803225541,
+              0.016310243994549837
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004052577281983097,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03209527835855752,
+            "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": [
+              0.26275949435943313,
+              -0.38032805777268935,
+              0.8470196789078932
+            ],
+            "target_position": [
+              0.2557284980980645,
+              -0.3824494615466299,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007344063071588402,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18750889544019816,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196789078932,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571166063691502,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08531142279220562,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.155445943661001,
+            "release_required_pad_clearance": 0.05265571139610281,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3690345130829804,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d5721fbecc2a018d37f8634e7ee7f85be3c3550cfe8160c7d1ff251fb33a15b6",
+    "visual_seed": 45884617561576452,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_26_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dec2ad56e0127769c058d3196136b06c2c36349
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_26_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_27_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a7fe0b3ab1e4a32b5e3919472342d3ae0d69abc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_27_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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",
+          "passed": true,
+          "metrics": {
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+              0.22853350059992067,
+              0.3233337608651823,
+              1.0483330494771084
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+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19174660167318758,
+            "gripper_z": 1.0503433314224149,
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+            "gripper_position": [
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+              0.31827347377434956,
+              1.0503433314224149
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+              0.00548070709096557,
+              0.005060287090832727,
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+            ],
+            "object_to_gripper_xy": 0.0074595345470484025,
+            "object_to_gripper_z": -0.0020102819453065024,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.22853350059992067,
+              0.2985072347462214,
+              1.0483330494771084
+            ],
+            "finger_b": [
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+              0.3233337608651823,
+              1.0483330494771084
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+            "finger_midpoint": [
+              0.22252652858908795,
+              0.31092049780570186,
+              1.0483330494771084
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+              0.012413263059480428,
+              0.0
+            ],
+            "finger_gap": 0.02758063179282082,
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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": 0.010814273483149457,
+            "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_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": {
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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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+              "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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+        "post_done_wait_frames": 0,
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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": [
+              0.22784314833319327,
+              0.3226603078520104,
+              1.2387244319553719
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+            "held_position": [
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+              0.32735381113345513,
+              1.2366265223138846
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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": 0.007726469668892049,
+            "max_held_gripper_dist": 0.007728186409527828,
+            "held_gripper_max_dist": 0.15,
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+            "max_held_gripper_z_dist": 0.0022218451981421694,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08734837344403085,
+            "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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+              0.23361100197449963,
+              0.30175538980834476,
+              1.2366265223138846
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+              0.32735381113345513,
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+              0.31455460047089995,
+              1.2366265223138846
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+              0.32735381113345513,
+              1.2366265223138846
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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": 0.02504466965073366,
+            "held_grasp_world_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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+              -0.9986169982740258,
+              0.01721872041150907
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004580572726786231,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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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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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08542454091936293,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15615254560356695,
+            "release_required_pad_clearance": 0.052712270459681465,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4764205922322347,
+            "object_max_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",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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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
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1cf8d5a99c81228d4f4559cfbbc91b146166f987396b5aed06de390277c37bb9",
+    "visual_seed": 3870531259110320179,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_28_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c12758bec66d687ea94c6604037d127f7a10a88a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_28_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.3211090128102209,
+              1.0474544874233283
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+            "gripper_z": 1.0498132527195003,
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+            "gripper_position": [
+              0.21976135905890384,
+              0.3160610455263115,
+              1.0498132527195003
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+              0.0054967000223589135,
+              0.005047967283909438,
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+            "object_to_gripper_z": -0.0023587652961720718,
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+              0.2962566637565475,
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+              1.0474544874233283
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+              0.3086828382833842,
+              1.0474544874233283
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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": [
+              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": {
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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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+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22442067935318688,
+              0.32048825314724944,
+              1.2406300691959833
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+              0.3251902183629321,
+              1.2382093612325258
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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": 0.007826086830997442,
+            "max_held_gripper_dist": 0.007828750602832649,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0024207079634575024,
+            "max_held_gripper_z_dist": 0.002541707239785973,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08727165144539312,
+            "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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+              0.2996086707201683,
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+              0.3123994445415502,
+              1.2382093612325258
+            ],
+            "held_grasp_object_position": [
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+              0.3251902183629321,
+              1.2382093612325258
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+            "held_grasp_finger_gap": 0.027668467765242524,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025198882562038595,
+            "held_grasp_world_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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+              -0.9989773720060593,
+              0.030008819670341517
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004850720722765906,
+            "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": []
+          }
+        },
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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",
+          "skill": "place",
+          "target": "heater_platform",
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+          "metrics": {
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+            "target": "heater_platform",
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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": 0.1559224139510519,
+            "release_required_pad_clearance": 0.05293768630825724,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9125667510093568,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "df92e07ff89e05916c0920fa4021867289b14e3935ac9f6cd65657cab2f8bd53",
+    "visual_seed": 4880086570425127049,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_29_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ef12b0b5ed1cd5a5cf420adaa34a9bf5252c214
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_29_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.31886306500795497,
+              1.0484988843242822
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+            "lift_margin": 0.1919123769157165,
+            "gripper_z": 1.0506836891361846,
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+            "gripper_position": [
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+              0.31377828652743844,
+              1.0506836891361846
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+              0.005334256513285229,
+              0.0050847784805165275,
+              -0.002184804811902419
+            ],
+            "object_to_gripper_xy": 0.007369481986235522,
+            "object_to_gripper_z": -0.002184804811902419,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23011582098082653,
+              0.2942997319867136,
+              1.0484988843242822
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+            "finger_b": [
+              0.21786255579952166,
+              0.31886306500795497,
+              1.0484988843242822
+            ],
+            "finger_midpoint": [
+              0.2239891883901741,
+              0.3065813984973343,
+              1.0484988843242822
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+            "object_minus_finger_midpoint": [
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+              0.012281666510620681,
+              0.0
+            ],
+            "finger_gap": 0.02744995148840494,
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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": 0.010964720042332673,
+            "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": 0.6082408287826252,
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+            "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,
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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": [
+              0.2295469991609518,
+              0.3180025123074534,
+              1.24107602452767
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+            "held_position": [
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+              0.3226516651210093,
+              1.238823636964606
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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": 0.0076852013149143125,
+            "max_held_gripper_dist": 0.007687736307885214,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022523875630640067,
+            "max_held_gripper_z_dist": 0.00237197556100055,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08789332258967769,
+            "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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+              0.29709220729171315,
+              1.238823636964606
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+              0.3226516651210093,
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+              0.3098719362063612,
+              1.238823636964606
+            ],
+            "held_grasp_object_position": [
+              0.23523685395986546,
+              0.3226516651210093,
+              1.238823636964606
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+            "held_grasp_finger_gap": 0.027596288152719865,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024706290224295425,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07471343419085855,
+              -0.9970361023819965,
+              0.01835519812819641
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004239958746277398,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03206966786484006,
+            "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"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "target": "heater_platform",
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+            "gripper_away_ok": true,
+            "object_z": 0.8470196998498327,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539969997524058,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08622218378733722,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15313960332281618,
+            "release_required_pad_clearance": 0.05311109189366861,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.248646414411253,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4793ed013a1991edd698b4729bd3aed24bd19624a9118b8b9551f7cf037a722d",
+    "visual_seed": 104531415607070986,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_2_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..664e0910689ae0ab79a636774e2187f32cc9b1e8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_2_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.22108511611403825,
+              0.32752608178788545,
+              1.0460754738737394
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+            "current_z": 1.0460754738737394,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18948902606981866,
+            "gripper_z": 1.0483075876843473,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.3224789863051761,
+              1.0483075876843473
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+              0.005368553878693033,
+              0.005047095482709374,
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+            "object_to_gripper_xy": 0.007368483124769668,
+            "object_to_gripper_z": -0.0022321138106078386,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.22108511611403825,
+              0.30287911549012764,
+              1.0460754738737394
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+            "finger_b": [
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+              0.32752608178788545,
+              1.0460754738737394
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+            "finger_midpoint": [
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+              0.31520259863900657,
+              1.0460754738737394
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012323483148878878,
+              0.0
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+            "finger_gap": 0.027466772983555824,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010877813764417646,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04796450444480364,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5791815193206297,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "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": [
+              0.2202729752735856,
+              0.3270151397221202,
+              1.2382266542619744
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+            "held_position": [
+              0.2259494584845101,
+              0.3316783837343029,
+              1.2359277004879097
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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": 0.007697629168539621,
+            "max_held_gripper_dist": 0.0077000496090012865,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002298953774064749,
+            "max_held_gripper_z_dist": 0.002421693480410214,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08704078600403947,
+            "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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+              0.2259494584845101,
+              0.30616769457052295,
+              1.2359277004879097
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+              0.3316783837343029,
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+              0.31892303915241293,
+              1.2359277004879097
+            ],
+            "held_grasp_object_position": [
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+              0.3316783837343029,
+              1.2359277004879097
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+            "held_grasp_finger_gap": 0.027580406289811482,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024880220392525396,
+            "held_grasp_world_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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+              -0.9983850208669455,
+              0.008203064796841186
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004517185678139098,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "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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+            "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": 0.08562254581403526,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15595692671712685,
+            "release_required_pad_clearance": 0.052811272907017634,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6655789332888647,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "854671ccc06a13a84ba393cfde19d484245a8589cc0efb24e5dd508563e6d747",
+    "visual_seed": 2316382981292019066,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_30_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3521eb82457433e1de5b3f0d632884310b14133d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_30_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22468425302365114,
+              0.3207672940320204,
+              1.0481160550622959
+            ],
+            "current_z": 1.0481160550622959,
+            "required_z": 0.8565865670132105,
+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.19152948804908543,
+            "gripper_z": 1.050415761488976,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21904967470290293,
+              0.3156049557432549,
+              1.050415761488976
+            ],
+            "object_minus_gripper": [
+              0.005634578320748207,
+              0.0051623382887655,
+              -0.0022997064266800926
+            ],
+            "object_to_gripper_xy": 0.007641872117504976,
+            "object_to_gripper_z": -0.0022997064266800926,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22468425302365114,
+              0.2958741043344517,
+              1.0481160550622959
+            ],
+            "finger_b": [
+              0.21246576799119807,
+              0.3207672940320204,
+              1.0481160550622959
+            ],
+            "finger_midpoint": [
+              0.21857501050742462,
+              0.30832069918323607,
+              1.0481160550622959
+            ],
+            "object_minus_finger_midpoint": [
+              0.006109242516226521,
+              0.012446594848784354,
+              0.0
+            ],
+            "finger_gap": 0.02773016894660796,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013865084473303974,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0481160550622959,
+            "object_top_z": 1.0935835223444148,
+            "finger_top_clearance": 0.04546746728211892,
+            "fingertip_min_top_clearance": 0.013640240184635676,
+            "object_projection_between_fingers": 0.8058534438553554,
+            "object_to_finger_line_xy": 0.010968453395123074,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048140832443468756,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8022407913455346,
+            "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": [
+                {
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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": [
+              0.22379180983944216,
+              0.31962315487144016,
+              1.2385741779865904
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+            "held_position": [
+              0.22972984814034636,
+              0.324383521667011,
+              1.236171282336624
+            ],
+            "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": 0.007980933428866969,
+            "max_held_gripper_dist": 0.007983402687332376,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00240289564996643,
+            "max_held_gripper_z_dist": 0.00252499990090449,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08751410115153546,
+            "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": [
+              0.22972984814034636,
+              0.2986906506953894,
+              1.236171282336624
+            ],
+            "held_grasp_finger_b": [
+              0.21919743333322425,
+              0.324383521667011,
+              1.236171282336624
+            ],
+            "held_grasp_midpoint": [
+              0.22446364073678532,
+              0.31153708618120024,
+              1.236171282336624
+            ],
+            "held_grasp_object_position": [
+              0.22972984814034636,
+              0.324383521667011,
+              1.236171282336624
+            ],
+            "held_grasp_finger_gap": 0.027767883974723042,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02511177553941676,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05174716404070008,
+              -0.9985959982644278,
+              0.011325337258367483
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004596737177384598,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032099314599333545,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
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+              -0.38742548874929134,
+              0.8470192736047916
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+            "target_position": [
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+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18673312465932312,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192736047916,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589029125311433,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08693683122169964,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1544071856367618,
+            "release_required_pad_clearance": 0.05346841561084982,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.948357804415357,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "568b0f885ee2b00f78fe6b97138e3b247f3e3f4ecf7dfa158b8b93a172abbd13",
+    "visual_seed": 2891919809881459833,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_31_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..605f27c81e1f5319340c2df75e1b0668c6e51d5e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_31_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22829169349915332,
+              0.32498350512229457,
+              1.0472164066576997
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+            "current_z": 1.0472164066576997,
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+            "lift_margin": 0.1906298396444892,
+            "gripper_z": 1.0491547533283783,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2230735823105421,
+              0.319989874777713,
+              1.0491547533283783
+            ],
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+              0.0052181111886112075,
+              0.004993630344581557,
+              -0.0019383466706786034
+            ],
+            "object_to_gripper_xy": 0.007222536147021708,
+            "object_to_gripper_z": -0.0019383466706786034,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22829169349915332,
+              0.3005008443936833,
+              1.0472164066576997
+            ],
+            "finger_b": [
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+              0.32498350512229457,
+              1.0472164066576997
+            ],
+            "finger_midpoint": [
+              0.22222950916243456,
+              0.31274217475798893,
+              1.0472164066576997
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012241330364305636,
+              0.0
+            ],
+            "finger_gap": 0.02732034026291983,
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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": 1.093304414069296,
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+            "object_projection_between_fingers": 0.8030545011476355,
+            "object_to_finger_line_xy": 0.010865047869965672,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04830859834747052,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5644303965453294,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2279208333082772,
+              0.324066005216206,
+              1.2385859204084564
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+            "held_position": [
+              0.23349950463026026,
+              0.3286216961906307,
+              1.2365747452372737
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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": 0.007478015749004046,
+            "max_held_gripper_dist": 0.0074796648279451625,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0020111751711826553,
+            "max_held_gripper_z_dist": 0.0021321945005721155,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08766036525743265,
+            "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": [
+              0.23349950463026026,
+              0.3031058504640752,
+              1.2365747452372737
+            ],
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+              0.3286216961906307,
+              1.2365747452372737
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+            "held_grasp_midpoint": [
+              0.22839731388923765,
+              0.31586377332735294,
+              1.2365747452372737
+            ],
+            "held_grasp_object_position": [
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+              0.3286216961906307,
+              1.2365747452372737
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+            "held_grasp_finger_gap": 0.02748068020578255,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024647713000407124,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07721783967795291,
+              -0.9968579355074358,
+              0.01765394152371746
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004108187741194101,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03208840817231397,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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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": [
+              0.2583820256974383,
+              -0.3867562700979132,
+              0.8470196414521923
+            ],
+            "target_position": [
+              0.25206255069671657,
+              -0.3886432850710663,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006595194446993273,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18532552607105948,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196414521923,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581020877054066,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08538952620801642,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15313812604954047,
+            "release_required_pad_clearance": 0.05269476310400821,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4441125518463664,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8a830faad7a76976edb12c6de95c365da7662c11d45d7b88f29f05d776b294bb",
+    "visual_seed": 3065829829891946715,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_32_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..29741eff7d6bc962df40a243683eeb38cd33bcfe
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_32_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22323528941225373,
+              0.3239103921524973,
+              1.0453359716007309
+            ],
+            "current_z": 1.0453359716007309,
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+            "lift_margin": 0.18874940458752054,
+            "gripper_z": 1.0476196102413358,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2179300117149649,
+              0.318858596412264,
+              1.0476196102413358
+            ],
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+              0.005305277697288835,
+              0.005051795740233289,
+              -0.002283638640604879
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+            "object_to_gripper_xy": 0.007325749903347065,
+            "object_to_gripper_z": -0.002283638640604879,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22323528941225373,
+              0.29934424060637305,
+              1.0453359716007309
+            ],
+            "finger_b": [
+              0.21106525030670925,
+              0.3239103921524973,
+              1.0453359716007309
+            ],
+            "finger_midpoint": [
+              0.2171502698594815,
+              0.3116273163794352,
+              1.0453359716007309
+            ],
+            "object_minus_finger_midpoint": [
+              0.006085019552772242,
+              0.012283075773062091,
+              0.0
+            ],
+            "finger_gap": 0.027415427292267838,
+            "fingertip_max_gap": 0.09168421546782654,
+            "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": 1.091278103528408,
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+            "object_projection_between_fingers": 0.8029420732566334,
+            "object_to_finger_line_xy": 0.010905211208339798,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04834210773391327,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5868481355525537,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22251599547689746,
+              0.32342280992634165,
+              1.2380958606144414
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+            "held_position": [
+              0.22816467300966245,
+              0.3280655009899417,
+              1.2357456846967987
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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": 0.007680199543310293,
+            "max_held_gripper_dist": 0.007682547186909244,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023501759176427495,
+            "max_held_gripper_z_dist": 0.0024691832385794754,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08721950744369683,
+            "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": [
+              0.22816467300966245,
+              0.30255678203699216,
+              1.2357456846967987
+            ],
+            "held_grasp_finger_b": [
+              0.21773161680790473,
+              0.3280655009899417,
+              1.2357456846967987
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+            "held_grasp_midpoint": [
+              0.2229481449087836,
+              0.31531114151346695,
+              1.2357456846967987
+            ],
+            "held_grasp_object_position": [
+              0.22816467300966245,
+              0.3280655009899417,
+              1.2357456846967987
+            ],
+            "held_grasp_finger_gap": 0.027559815027129664,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024769135737818044,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0653861815054424,
+              -0.9977495730470524,
+              0.014847112600176682
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004375615516799227,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03213347939043714,
+            "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": [
+              0.2633089073175168,
+              -0.38651026893586105,
+              0.8470196118302031
+            ],
+            "target_position": [
+              0.25641826022498504,
+              -0.3888309043199379,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007270926071666954,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18461442864443064,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196118302031,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567879359760156,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08511001139145662,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1527507784449562,
+            "release_required_pad_clearance": 0.05255500569572831,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.17693838096135858,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d9b0008a12020f807fac82bc17581628e3842d8cf867c4780ec0a81b4e838a78",
+    "visual_seed": 655587454666450785,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_33_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e81e347f6f8ac3353f795b1ce5201d84861a087
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_33_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.22612228361910872,
+              0.32473771951512914,
+              1.0476532035555917
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+            "gripper_z": 1.049541912811814,
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+              0.31970348929024,
+              1.049541912811814
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+              0.005034230224889136,
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+              0.2998690246303144,
+              1.0476532035555917
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+              1.0476532035555917
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+              0.31230337207272174,
+              1.0476532035555917
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+              0.0124343474424074,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "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": {
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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": []
+            },
+            "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": [
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+              0.3238622962538495,
+              1.2390892792121577
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+            "held_position": [
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+              0.3285445169466138,
+              1.2371265176391133
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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": 0.007682039810235714,
+            "max_held_gripper_dist": 0.007683114079446766,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0019627615730444248,
+            "max_held_gripper_z_dist": 0.0020893251492797305,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08789880782469367,
+            "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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+              0.30293111594139166,
+              1.2371265176391133
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+            "held_grasp_finger_b": [
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+              0.3285445169466138,
+              1.2371265176391133
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+            "held_grasp_midpoint": [
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+              0.31573781644400273,
+              1.2371265176391133
+            ],
+            "held_grasp_object_position": [
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+              0.3285445169466138,
+              1.2371265176391133
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+            "held_grasp_finger_gap": 0.027656643817992373,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02511204703420932,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04530799975493999,
+              -0.9988808992807247,
+              0.013569606123137398
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004634124623340517,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032171511453181326,
+            "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": [
+              0.2628097965262298,
+              -0.3794368795116028,
+              0.8470196842668969
+            ],
+            "target_position": [
+              0.25547235850049044,
+              -0.3817432906922221,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007691393197311656,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1855600734424854,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196842668969,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529250937434119,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08569848504038514,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15469148839196556,
+            "release_required_pad_clearance": 0.052849242520192574,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7412452875687612,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "16d474b983c0862f4b4fb8d488f0bed98153a30b67e0a8f6a99c83870fd85696",
+    "visual_seed": 8445220367726374161,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_34_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..080dece17c2462de333bd1b5ebca775aec5f4bc7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_34_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 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": [
+              0.22344651976373517,
+              0.3275501478292003,
+              1.0458526615679882
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+            "lift_margin": 0.18926609455477783,
+            "gripper_z": 1.0480420726828137,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21827122750140762,
+              0.32258667419197384,
+              1.0480420726828137
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+              0.005175292262327547,
+              0.004963473637226434,
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+            "object_to_gripper_z": -0.0021894111148255124,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.22344651976373517,
+              0.3030357414358752,
+              1.0458526615679882
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+            "finger_b": [
+              0.2114510275820156,
+              0.3275501478292003,
+              1.0458526615679882
+            ],
+            "finger_midpoint": [
+              0.21744877367287538,
+              0.31529294463253776,
+              1.0458526615679882
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+            "object_minus_finger_midpoint": [
+              0.00599774609085979,
+              0.012257203196662514,
+              0.0
+            ],
+            "finger_gap": 0.02729190270938971,
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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": 1.0912311263038763,
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+            "object_projection_between_fingers": 0.8068171738865779,
+            "object_to_finger_line_xy": 0.010774711216065418,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04771834894970868,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2432653931797595,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": "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": [
+              0.22298653925441222,
+              0.32679280025618584,
+              1.2389722234725196
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+            "held_position": [
+              0.22850193243360628,
+              0.3313508284695229,
+              1.2367324780925386
+            ],
+            "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": 0.007497442396032328,
+            "max_held_gripper_dist": 0.0075046247062723484,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002239745379980951,
+            "max_held_gripper_z_dist": 0.0023610856147100456,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08724633733615028,
+            "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": [
+              0.22850193243360628,
+              0.30586093057855457,
+              1.2367324780925386
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+            "held_grasp_finger_b": [
+              0.21826645050987686,
+              0.3313508284695229,
+              1.2367324780925386
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+            "held_grasp_midpoint": [
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+              0.31860587952403874,
+              1.2367324780925386
+            ],
+            "held_grasp_object_position": [
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+              0.3313508284695229,
+              1.2367324780925386
+            ],
+            "held_grasp_finger_gap": 0.027468163111190814,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024719608737128366,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06919483423635932,
+              -0.9975658325873386,
+              0.008630444329992715
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042250618775431055,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03213217812220488,
+            "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": [
+              0.2563111816954169,
+              -0.38367786586672104,
+              0.8470193775889763
+            ],
+            "target_position": [
+              0.24877448803505126,
+              -0.38614765508902266,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007931053532336847,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18507331676195288,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193775889763,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518947641185406,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08612087925445071,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1544268866080218,
+            "release_required_pad_clearance": 0.053060439627225356,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.150105898409778,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9391a8d0f7789ad2135bac274bba083991403c19f3f21f8e1fb47833b3111f45",
+    "visual_seed": 1356315580197136899,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_35_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..442cbc1797fede87d431a1c102a6fb8b6c37957c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_35_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 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": [
+              0.22383768664505763,
+              0.32371932335540843,
+              1.0469720528977216
+            ],
+            "current_z": 1.0469720528977216,
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+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.1903854858845112,
+            "gripper_z": 1.0490318920987551,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21860040265392067,
+              0.3187713237537338,
+              1.0490318920987551
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+              0.0052372839911369595,
+              0.004947999601674635,
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+            ],
+            "object_to_gripper_xy": 0.007204987415810789,
+            "object_to_gripper_z": -0.0020598392010335864,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.22383768664505763,
+              0.29912241437724957,
+              1.0469720528977216
+            ],
+            "finger_b": [
+              0.21190336550654193,
+              0.32371932335540843,
+              1.0469720528977216
+            ],
+            "finger_midpoint": [
+              0.21787052607579976,
+              0.311420868866329,
+              1.0469720528977216
+            ],
+            "object_minus_finger_midpoint": [
+              0.005967160569257862,
+              0.012298454489079402,
+              0.0
+            ],
+            "finger_gap": 0.02733927490474198,
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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": 1.0923282632739229,
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+            "object_projection_between_fingers": 0.8094445141477405,
+            "object_to_finger_line_xy": 0.010737205422711211,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04784280303471715,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.34729878425380367,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/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": [
+              0.22347819135006336,
+              0.3225510435382956,
+              1.2372459130185007
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+            "held_position": [
+              0.2290442288482243,
+              0.32708409464204635,
+              1.2350908545439607
+            ],
+            "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": 0.007494905120736108,
+            "max_held_gripper_dist": 0.007499475322412602,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002155058474540006,
+            "max_held_gripper_z_dist": 0.002271949231952508,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0864277173427932,
+            "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": [
+              0.2290442288482243,
+              0.3015502885241684,
+              1.2350908545439607
+            ],
+            "held_grasp_finger_b": [
+              0.21897457072745505,
+              0.32708409464204635,
+              1.2350908545439607
+            ],
+            "held_grasp_midpoint": [
+              0.22400939978783968,
+              0.31431719158310734,
+              1.2350908545439607
+            ],
+            "held_grasp_object_position": [
+              0.2290442288482243,
+              0.32708409464204635,
+              1.2350908545439607
+            ],
+            "held_grasp_finger_gap": 0.02744764597437378,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02480202963024046,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06688196276758165,
+              -0.9977168312529352,
+              0.009376976642719081
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004171443628911125,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03212573165117498,
+            "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": [
+              0.2627115510264725,
+              -0.38318710248007243,
+              0.8470196478458571
+            ],
+            "target_position": [
+              0.2544340737294277,
+              -0.3855291699264038,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008602436301784307,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1885475298662026,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196478458571,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517807296155646,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08529081533745182,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15772384567257505,
+            "release_required_pad_clearance": 0.05264540766872591,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3494256104914973,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9dfd45663b66b7812a2a67f8af627e6d945109e42deb17c9b992963c2cd1fdfd",
+    "visual_seed": 3423187362625886527,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_36_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0398ceb9c8a7c2820095b803399f5a0062669733
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_36_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22809016649894465,
+              0.3200609666544109,
+              1.0474996774290675
+            ],
+            "current_z": 1.0474996774290675,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19091322962514667,
+            "gripper_z": 1.0497145205033371,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2226979949826821,
+              0.31502164248184483,
+              1.0497145205033371
+            ],
+            "object_minus_gripper": [
+              0.005392171516262534,
+              0.005039324172566084,
+              -0.002214843074269668
+            ],
+            "object_to_gripper_xy": 0.007380399838559009,
+            "object_to_gripper_z": -0.002214843074269668,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22809016649894465,
+              0.29539852958226376,
+              1.0474996774290675
+            ],
+            "finger_b": [
+              0.2159771446706177,
+              0.3200609666544109,
+              1.0474996774290675
+            ],
+            "finger_midpoint": [
+              0.22203365558478116,
+              0.3077297481183373,
+              1.0474996774290675
+            ],
+            "object_minus_finger_midpoint": [
+              0.006056510914163482,
+              0.012331218536073607,
+              0.0
+            ],
+            "finger_gap": 0.027476555463724767,
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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": 1.0474996774290675,
+            "object_top_z": 1.0936520409896904,
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+            "fingertip_min_top_clearance": 0.013845709068186872,
+            "object_projection_between_fingers": 0.8056518438047331,
+            "object_to_finger_line_xy": 0.010872419542873851,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04863467745164411,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7101253598684444,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/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": [
+              0.22729366280615013,
+              0.31946600504230555,
+              1.240108786911803
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+            "held_position": [
+              0.23298711512613868,
+              0.3241314710388508,
+              1.237828198207776
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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": 0.007706040301078069,
+            "max_held_gripper_dist": 0.007711956689535595,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002280588704027142,
+            "max_held_gripper_z_dist": 0.0024010081081482504,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08613714211264933,
+            "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": [
+              0.23298711512613868,
+              0.29863425267287086,
+              1.237828198207776
+            ],
+            "held_grasp_finger_b": [
+              0.22246173318656426,
+              0.3241314710388508,
+              1.237828198207776
+            ],
+            "held_grasp_midpoint": [
+              0.22772442415635147,
+              0.31138286185586084,
+              1.237828198207776
+            ],
+            "held_grasp_object_position": [
+              0.23298711512613868,
+              0.3241314710388508,
+              1.237828198207776
+            ],
+            "held_grasp_finger_gap": 0.027584267425044752,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024859035048867176,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.056440583245051024,
+              -0.9982694339071454,
+              0.01651053874547925
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004539759331337427,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03217664874583068,
+            "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": [
+              0.2569974433197068,
+              -0.3814688707788538,
+              0.8470196192497892
+            ],
+            "target_position": [
+              0.2517914689524141,
+              -0.3829053995886978,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005400535541445911,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18632184691252168,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196192497892,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590639833788827,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08570233159353531,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15385792891450945,
+            "release_required_pad_clearance": 0.05285116579676766,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7454570392156177,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "31460ecc9f2eafe86211463c323fa2977a62c4f49b869186a0ae47d81f7f519a",
+    "visual_seed": 1729881046022133694,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_37_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..acb3a66311bd9d6230d7813e6ed1666fa4c01534
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_37_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2213031609349581,
+              0.32677145365422405,
+              1.0449407387537237
+            ],
+            "current_z": 1.0449407387537237,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18835423134515816,
+            "gripper_z": 1.0473065167824314,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.215748371809169,
+              0.32178455292638986,
+              1.0473065167824314
+            ],
+            "object_minus_gripper": [
+              0.005554789125789106,
+              0.004986900727834198,
+              -0.0023657780287076324
+            ],
+            "object_to_gripper_xy": 0.007464908646544722,
+            "object_to_gripper_z": -0.0023657780287076324,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2213031609349581,
+              0.30175991425689513,
+              1.0449407387537237
+            ],
+            "finger_b": [
+              0.2095706006168622,
+              0.32677145365422405,
+              1.0449407387537237
+            ],
+            "finger_midpoint": [
+              0.21543688077591017,
+              0.3142656839555596,
+              1.0449407387537237
+            ],
+            "object_minus_finger_midpoint": [
+              0.005866280159047943,
+              0.01250576969866446,
+              0.0
+            ],
+            "finger_gap": 0.027626618950604427,
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+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013813309475302207,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0449407387537237,
+            "object_top_z": 1.0907288232247354,
+            "finger_top_clearance": 0.04578808447101168,
+            "fingertip_min_top_clearance": 0.01373642534130347,
+            "object_projection_between_fingers": 0.8196441987924216,
+            "object_to_finger_line_xy": 0.010621980024130808,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048766270479663185,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2631282480371246,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": [
+              0.22018646237597564,
+              0.3264527006748516,
+              1.2364594022834163
+            ],
+            "held_position": [
+              0.22594235028332338,
+              0.33116739680780605,
+              1.234015989993049
+            ],
+            "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": 0.00783127504617006,
+            "max_held_gripper_dist": 0.007832843046084746,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002443412290367375,
+            "max_held_gripper_z_dist": 0.0025665125755971463,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08707354924540434,
+            "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": [
+              0.22594235028332338,
+              0.30563269209883775,
+              1.234015989993049
+            ],
+            "held_grasp_finger_b": [
+              0.21536952025245398,
+              0.33116739680780605,
+              1.234015989993049
+            ],
+            "held_grasp_midpoint": [
+              0.22065593526788868,
+              0.31840004445332193,
+              1.234015989993049
+            ],
+            "held_grasp_object_position": [
+              0.22594235028332338,
+              0.33116739680780605,
+              1.234015989993049
+            ],
+            "held_grasp_finger_gap": 0.027637038181322203,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025284888637663306,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.022847857819904418,
+              -0.9996769277694929,
+              0.011136223704190651
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004995371320875459,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032316214129679804,
+            "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": [
+              0.2568904062049526,
+              -0.38156623178533233,
+              0.8470195941967971
+            ],
+            "target_position": [
+              0.2496818364213605,
+              -0.3842735387996301,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00770019412707131,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1860317912867358,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195941967971,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534187977958862,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08761356406082864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15514124599210327,
+            "release_required_pad_clearance": 0.05380678203041432,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.622691344189953,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a1e613ba06df861f781db7d541d92a8d922fa0496bbffa4a17026d28bbb97602",
+    "visual_seed": 6441036256492012440,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_38_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea32208e3d781036cc64cb0b8dffd7c018cd2c04
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_38_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22940437308525893,
+              0.32784704987796315,
+              1.0480104057316522
+            ],
+            "current_z": 1.0480104057316522,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19142395792773137,
+            "gripper_z": 1.0499668282123573,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2240628116408828,
+              0.3226922317876086,
+              1.0499668282123573
+            ],
+            "object_minus_gripper": [
+              0.005341561444376142,
+              0.005154818090354563,
+              -0.0019564224807051556
+            ],
+            "object_to_gripper_xy": 0.00742323569669537,
+            "object_to_gripper_z": -0.0019564224807051556,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22940437308525893,
+              0.3033617319609584,
+              1.0480104057316522
+            ],
+            "finger_b": [
+              0.2169480070479907,
+              0.32784704987796315,
+              1.0480104057316522
+            ],
+            "finger_midpoint": [
+              0.2231761900666248,
+              0.3156043909194608,
+              1.0480104057316522
+            ],
+            "object_minus_finger_midpoint": [
+              0.00622818301863412,
+              0.01224265895850235,
+              0.0
+            ],
+            "finger_gap": 0.02747165536241316,
+            "fingertip_max_gap": 0.09138886279802097,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013735827681206556,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480104057316522,
+            "object_top_z": 1.0939629893221023,
+            "finger_top_clearance": 0.04595258359045018,
+            "fingertip_min_top_clearance": 0.01378577507713502,
+            "object_projection_between_fingers": 0.7944047558041148,
+            "object_to_finger_line_xy": 0.011102282643309279,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04819443139901049,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4502435793069972,
+            "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": []
+          }
+        },
+        "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": [
+              0.22887899448863686,
+              0.3270028290498838,
+              1.2394588211593867
+            ],
+            "held_position": [
+              0.23461097054767194,
+              0.33168460411970047,
+              1.2374226884717026
+            ],
+            "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": 0.007675962719266147,
+            "max_held_gripper_dist": 0.007679027190614025,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0020361326876841,
+            "max_held_gripper_z_dist": 0.0021648913866021413,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08770689848626001,
+            "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": [
+              0.23461097054767194,
+              0.3061027000562812,
+              1.2374226884717026
+            ],
+            "held_grasp_finger_b": [
+              0.22418034373568582,
+              0.33168460411970047,
+              1.2374226884717026
+            ],
+            "held_grasp_midpoint": [
+              0.22939565714167887,
+              0.3188936520879908,
+              1.2374226884717026
+            ],
+            "held_grasp_object_position": [
+              0.23461097054767194,
+              0.33168460411970047,
+              1.2374226884717026
+            ],
+            "held_grasp_finger_gap": 0.027626650017707727,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024631697866430706,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08243555504649552,
+              -0.9964681406811772,
+              0.01598824166610446
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004148347448980405,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03202452152186649,
+            "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": [
+              0.25619220377882335,
+              -0.38125712963435254,
+              0.8470194479857676
+            ],
+            "target_position": [
+              0.24990146058830875,
+              -0.3831029280008133,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00655594550760109,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18641084434687186,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194479857676,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523107638784464,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08701223887024458,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1555530608218421,
+            "release_required_pad_clearance": 0.05350611943512229,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.022861025216824,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dc6e07622c53c0cb1a4238fac2d7e6641380746e90e27b8f6fc3773b02bd5866",
+    "visual_seed": 1630626887207992678,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_39_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..66a508caa3f5b594ce744864c9f26e5ea041e815
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_39_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23048072496055266,
+              0.31863646920957917,
+              1.048818200539252
+            ],
+            "current_z": 1.048818200539252,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1922317527353311,
+            "gripper_z": 1.0509113054901695,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22485489373606676,
+              0.3135698041141154,
+              1.0509113054901695
+            ],
+            "object_minus_gripper": [
+              0.0056258312244859,
+              0.005066665095463774,
+              -0.0020931049509176347
+            ],
+            "object_to_gripper_xy": 0.0075710680987553835,
+            "object_to_gripper_z": -0.0020931049509176347,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23048072496055266,
+              0.2937153596369527,
+              1.048818200539252
+            ],
+            "finger_b": [
+              0.21844379791756638,
+              0.31863646920957917,
+              1.048818200539252
+            ],
+            "finger_midpoint": [
+              0.2244622614390595,
+              0.30617591442326597,
+              1.048818200539252
+            ],
+            "object_minus_finger_midpoint": [
+              0.006018463521493156,
+              0.012460554786313194,
+              0.0
+            ],
+            "finger_gap": 0.02767578932874414,
+            "fingertip_max_gap": 0.09406253674379922,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013837894664372049,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048818200539252,
+            "object_top_z": 1.0954589371061623,
+            "finger_top_clearance": 0.04664073656691037,
+            "fingertip_min_top_clearance": 0.013992220970073077,
+            "object_projection_between_fingers": 0.8108391641501327,
+            "object_to_finger_line_xy": 0.010838844529157435,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04953126837189961,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5833888253570831,
+            "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",
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+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+              ],
+              "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": "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": [
+              0.2295298548266763,
+              0.3178488670599357,
+              1.2388748977216295
+            ],
+            "held_position": [
+              0.23540930336763802,
+              0.32257244570778093,
+              1.236682496901507
+            ],
+            "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": 0.007854090128351641,
+            "max_held_gripper_dist": 0.007856627231592422,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0021924008201226197,
+            "max_held_gripper_z_dist": 0.0023164424904649206,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08780283020911833,
+            "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": [
+              0.23540930336763802,
+              0.29698025514161686,
+              1.236682496901507
+            ],
+            "held_grasp_finger_b": [
+              0.2248388549980764,
+              0.32257244570778093,
+              1.236682496901507
+            ],
+            "held_grasp_midpoint": [
+              0.2301240791828572,
+              0.30977635042469887,
+              1.236682496901507
+            ],
+            "held_grasp_object_position": [
+              0.23540930336763802,
+              0.32257244570778093,
+              1.236682496901507
+            ],
+            "held_grasp_finger_gap": 0.02768925056241908,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02522495234870593,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0327617038582136,
+              -0.9991820818045289,
+              0.023703125554965676
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0048727421796179666,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032241442892325695,
+            "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": [
+              0.2616963700896726,
+              -0.3883047607494113,
+              0.8470195239203697
+            ],
+            "target_position": [
+              0.25642462108071906,
+              -0.38965319654144726,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005441471923905006,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18651159541371565,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195239203697,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757903370299353,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08747603420409024,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15428023781800848,
+            "release_required_pad_clearance": 0.05373801710204512,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4847610682900805,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cd292a775a742642f69e875517fd174d7b6a01d0b8a23e343ae44ae76dc6c405",
+    "visual_seed": 4067532581704436373,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_3_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aeff263358a16fe2aac9ed09d7e0923d045a5d2f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_3_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22673896036501096,
+              0.3253503335422542,
+              1.0459949550694292
+            ],
+            "current_z": 1.0459949550694292,
+            "required_z": 0.8565866266178549,
+            "initial_z": 0.7565866266178549,
+            "lift_margin": 0.1894083284515743,
+            "gripper_z": 1.0483299239480244,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22105173703499884,
+              0.32019617793434435,
+              1.0483299239480244
+            ],
+            "object_minus_gripper": [
+              0.00568722333001212,
+              0.005154155607909827,
+              -0.0023349688785951894
+            ],
+            "object_to_gripper_xy": 0.007675273886708048,
+            "object_to_gripper_z": -0.0023349688785951894,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22673896036501096,
+              0.3002971507975756,
+              1.0459949550694292
+            ],
+            "finger_b": [
+              0.2146996450147083,
+              0.3253503335422542,
+              1.0459949550694292
+            ],
+            "finger_midpoint": [
+              0.22071930268985962,
+              0.3128237421699149,
+              1.0459949550694292
+            ],
+            "object_minus_finger_midpoint": [
+              0.006019657675151335,
+              0.012526591372339302,
+              0.0
+            ],
+            "finger_gap": 0.027795810471045714,
+            "fingertip_max_gap": 0.09205798285485,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013897905235522864,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0459949550694292,
+            "object_top_z": 1.09159899952078,
+            "finger_top_clearance": 0.0456040444513508,
+            "fingertip_min_top_clearance": 0.01368121333540524,
+            "object_projection_between_fingers": 0.812394789143817,
+            "object_to_finger_line_xy": 0.010851389561248462,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048528991427425006,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0832682320391942,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": [
+              0.22564748242239857,
+              0.32485761333864605,
+              1.2373676751198572
+            ],
+            "held_position": [
+              0.23157748878716,
+              0.3296897810422677,
+              1.2349529733583509
+            ],
+            "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": 0.00802157121760178,
+            "max_held_gripper_dist": 0.008024196719396475,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002414701761506377,
+            "max_held_gripper_z_dist": 0.00254276376914242,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08724846348907389,
+            "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": [
+              0.23157748878716,
+              0.30401386741245096,
+              1.2349529733583509
+            ],
+            "held_grasp_finger_b": [
+              0.220861090475978,
+              0.3296897810422677,
+              1.2349529733583509
+            ],
+            "held_grasp_midpoint": [
+              0.226219289631569,
+              0.31685182422735936,
+              1.2349529733583509
+            ],
+            "held_grasp_object_position": [
+              0.23157748878716,
+              0.3296897810422677,
+              1.2349529733583509
+            ],
+            "held_grasp_finger_gap": 0.02782254002584441,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025306065432712584,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.033102511224935495,
+              -0.999411569070717,
+              0.008985508233289587
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0049316620176898095,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032192452554067705,
+            "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": [
+              0.2599780476028413,
+              -0.380475311092837,
+              0.8470198203513238
+            ],
+            "target_position": [
+              0.2530342765050018,
+              -0.38300515332705465,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007390267842860809,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1867141344175416,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198203513238,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755575431337207,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08779078499593189,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15501901247059618,
+            "release_required_pad_clearance": 0.05389539249796595,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.799672721345134,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "073a1e41aa0cd7e36cbeb5c0bda73337e89758f88ec7a910415d0000e0df6e64",
+    "visual_seed": 4257556579155855483,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_40_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..282b21fe9d395cdef5484fd3de66b6f072bf6f78
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_40_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22776521845195857,
+              0.32666572651848713,
+              1.0461810043848012
+            ],
+            "current_z": 1.0461810043848012,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18959449697623565,
+            "gripper_z": 1.048162428453063,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22226037296973264,
+              0.32173247413089257,
+              1.048162428453063
+            ],
+            "object_minus_gripper": [
+              0.005504845482225934,
+              0.004933252387594567,
+              -0.00198142406826185
+            ],
+            "object_to_gripper_xy": 0.007391907933875446,
+            "object_to_gripper_z": -0.00198142406826185,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22776521845195857,
+              0.30172301986528055,
+              1.0461810043848012
+            ],
+            "finger_b": [
+              0.2160630010179605,
+              0.32666572651848713,
+              1.0461810043848012
+            ],
+            "finger_midpoint": [
+              0.22191410973495954,
+              0.3141943731918838,
+              1.0461810043848012
+            ],
+            "object_minus_finger_midpoint": [
+              0.005851108716999037,
+              0.012471353326603318,
+              0.0
+            ],
+            "finger_gap": 0.027551415717898858,
+            "fingertip_max_gap": 0.09343681025473738,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013775707858949455,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0461810043848012,
+            "object_top_z": 1.0925736039986067,
+            "finger_top_clearance": 0.046392599613805485,
+            "fingertip_min_top_clearance": 0.013917779884141645,
+            "object_projection_between_fingers": 0.8195950344944745,
+            "object_to_finger_line_xy": 0.010594191588442763,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04921840512736869,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3516283997734997,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_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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+                "/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": "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": [
+              0.22687032965011056,
+              0.3263074071384871,
+              1.23648498465409
+            ],
+            "held_position": [
+              0.23258609852898585,
+              0.330959232080109,
+              1.234421982300858
+            ],
+            "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": 0.007652807842462511,
+            "max_held_gripper_dist": 0.007655045982106647,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0020630023532319797,
+            "max_held_gripper_z_dist": 0.002188715469217506,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08719153094224513,
+            "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": [
+              0.23258609852898585,
+              0.3054567156983203,
+              1.234421982300858
+            ],
+            "held_grasp_finger_b": [
+              0.2221134508293606,
+              0.330959232080109,
+              1.234421982300858
+            ],
+            "held_grasp_midpoint": [
+              0.22734977467917322,
+              0.3182079738892146,
+              1.234421982300858
+            ],
+            "held_grasp_object_position": [
+              0.23258609852898585,
+              0.330959232080109,
+              1.234421982300858
+            ],
+            "held_grasp_finger_gap": 0.02756908942355313,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025208074395864394,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.026772889692602317,
+              -0.99944872325294,
+              0.019633185314058114
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004899529365232132,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032315804726227026,
+            "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": [
+              0.26373020971576966,
+              -0.382817750936619,
+              0.8470199811628352
+            ],
+            "target_position": [
+              0.25729989722828644,
+              -0.38509811973901725,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006822682797963989,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1840336252397411,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470199811628352,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581614204364247,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08799012792266354,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15193052594309958,
+            "release_required_pad_clearance": 0.053995063961331774,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.9976151594614806,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a1d7371cd23801e73c40bd34b2cb564f38b3f718149c731fac2844202d1c2158",
+    "visual_seed": 5621413073518517029,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_41_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec82aad0e6d26fbc2f17a9ff0db0af4725c0a940
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_41_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22441541699229595,
+              0.32742416184464995,
+              1.0471539736079818
+            ],
+            "current_z": 1.0471539736079818,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19056758540870578,
+            "gripper_z": 1.0491871771144794,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21895293481953054,
+              0.32239287319748267,
+              1.0491871771144794
+            ],
+            "object_minus_gripper": [
+              0.005462482172765404,
+              0.005031288647167287,
+              -0.002033203506497605
+            ],
+            "object_to_gripper_xy": 0.007426478097920593,
+            "object_to_gripper_z": -0.002033203506497605,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22441541699229595,
+              0.30258975871513666,
+              1.0471539736079818
+            ],
+            "finger_b": [
+              0.2124677465497064,
+              0.32742416184464995,
+              1.0471539736079818
+            ],
+            "finger_midpoint": [
+              0.21844158177100118,
+              0.3150069602798933,
+              1.0471539736079818
+            ],
+            "object_minus_finger_midpoint": [
+              0.005973835221294771,
+              0.012417201564756675,
+              0.0
+            ],
+            "finger_gap": 0.027558926100338298,
+            "fingertip_max_gap": 0.09131926318617412,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013779463050169173,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0471539736079818,
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+              0.0,
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+            "required_stable_lift_frames": 5
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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": "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": [
+              0.2237497448541683,
+              0.3266681096976164,
+              1.239344833383293
+            ],
+            "held_position": [
+              0.22950544775142684,
+              0.331336299608914,
+              1.237251406443079
+            ],
+            "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": 0.0077008148428244,
+            "max_held_gripper_dist": 0.0077022541273120415,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0020934269402139716,
+            "max_held_gripper_z_dist": 0.0022199387118415626,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0873920121329077,
+            "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": [
+              0.22950544775142684,
+              0.3057158464759306,
+              1.237251406443079
+            ],
+            "held_grasp_finger_b": [
+              0.21908324726229397,
+              0.331336299608914,
+              1.237251406443079
+            ],
+            "held_grasp_midpoint": [
+              0.2242943475068604,
+              0.3185260730424223,
+              1.237251406443079
+            ],
+            "held_grasp_object_position": [
+              0.22950544775142684,
+              0.331336299608914,
+              1.237251406443079
+            ],
+            "held_grasp_finger_gap": 0.027659173555532705,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025105915638378645,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04660482287797901,
+              -0.9988754029188958,
+              0.008713204239880312
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004609796719656056,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03216154233882663,
+            "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": [
+              0.2610128059459972,
+              -0.3801439533075879,
+              0.8470198900853073
+            ],
+            "target_position": [
+              0.25433642905297005,
+              -0.3820578621337821,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006945290160441888,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18658141259486752,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198900853073,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752773681497499,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08564703371736086,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15563851913227714,
+            "release_required_pad_clearance": 0.05282351685868043,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.690968051772793,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "69e884014404358a71bf562de8a7f96f09e2c5f6311008f712f07a81e57042ab",
+    "visual_seed": 1881522902937390030,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_42_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8786b02205ac87d36158ccf14a955e63538c4a4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_42_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22925239625652247,
+              0.31760469433555766,
+              1.0476926957568333
+            ],
+            "current_z": 1.0476926957568333,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19110624795291253,
+            "gripper_z": 1.049975371896743,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22402456801853976,
+              0.3126327920178439,
+              1.049975371896743
+            ],
+            "object_minus_gripper": [
+              0.005227828237982707,
+              0.004971902317713772,
+              -0.002282676139909734
+            ],
+            "object_to_gripper_xy": 0.007214568645645902,
+            "object_to_gripper_z": -0.002282676139909734,
+            "fingertip_source": "active_contact_pad_positions",
+            "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",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.2287869435992507,
+              0.31707031938848185,
+              1.2400563613516378
+            ],
+            "held_position": [
+              0.2343332459178053,
+              0.3216471609601218,
+              1.2377018283296513
+            ],
+            "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": 0.007566556279597794,
+            "max_held_gripper_dist": 0.007570400555414088,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023545330219865157,
+            "max_held_gripper_z_dist": 0.002469594049588464,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08733339888204072,
+            "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": [
+              0.2343332459178053,
+              0.2961767211309046,
+              1.2377018283296513
+            ],
+            "held_grasp_finger_b": [
+              0.2240642635064112,
+              0.3216471609601218,
+              1.2377018283296513
+            ],
+            "held_grasp_midpoint": [
+              0.22919875471210827,
+              0.3089119410455132,
+              1.2377018283296513
+            ],
+            "held_grasp_object_position": [
+              0.2343332459178053,
+              0.3216471609601218,
+              1.2377018283296513
+            ],
+            "held_grasp_finger_gap": 0.027462616496963566,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0247236670408088,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06670183076508096,
+              -0.9975731529612967,
+              0.019966728911963383
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004281355738233066,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03215343151847198,
+            "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": [
+              0.2567172624046138,
+              -0.3808672617219094,
+              0.8470203919468948
+            ],
+            "target_position": [
+              0.2507914552207563,
+              -0.3825464070164937,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00615911679549768,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1860573453022999,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470203919468948,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573678712783578,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08497474157089689,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15387404686114822,
+            "release_required_pad_clearance": 0.05248737078544845,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.03905654534063903,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e938368154ed98385ebbf390a9b3ba6faf2feab33aded41d878e4cbf8cadec0a",
+    "visual_seed": 6462114231829519863,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_43_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dd906296367f80845d5a3d461028dc15696dd85
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_43_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_44_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cfd676bc03eae8234c0b017b32ccbb27e70f0de
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_44_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.324249936178181,
+              1.0483206797711644
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+            "gripper_z": 1.0501862822932269,
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+              0.3192822117700465,
+              1.0501862822932269
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+              0.005454047640206822,
+              0.004967724408134477,
+              -0.0018656025220624706
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+            "object_to_gripper_xy": 0.007377324817087875,
+            "object_to_gripper_z": -0.0018656025220624706,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.22818419548472302,
+              0.2993346136354068,
+              1.0483206797711644
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+            "finger_b": [
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+              0.324249936178181,
+              1.0483206797711644
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+            "finger_midpoint": [
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+              0.3117922749067939,
+              1.0483206797711644
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+              0.012457661271387088,
+              0.0
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+            "finger_gap": 0.0275436383976276,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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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": [
+              0.22753116367890075,
+              0.32353570559837785,
+              1.2389702615924416
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+            "held_position": [
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+              0.32818352898992265,
+              1.2370250667136884
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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": 0.007609287494051761,
+            "max_held_gripper_dist": 0.0076112656340841765,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0019451948787532203,
+            "max_held_gripper_z_dist": 0.002069703143484647,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08737651595624474,
+            "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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+              0.3026026643297018,
+              1.2370250667136884
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+              0.2228883742004727,
+              0.32818352898992265,
+              1.2370250667136884
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+              0.3153930966598122,
+              1.2370250667136884
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+            "held_grasp_object_position": [
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+              0.32818352898992265,
+              1.2370250667136884
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+            "held_grasp_finger_gap": 0.027593471556511463,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025132976065929426,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04099870518599745,
+              -0.9990712992658582,
+              0.013253118738690173
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004646904238102141,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": 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_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1566393063561414,
+            "release_required_pad_clearance": 0.05317922322057453,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3819432969968577,
+            "object_max_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
+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "daaba1c6092933480b02c5a5fbcaf0923e0a98f808a4cf4f89c21c0fc23bd206",
+    "visual_seed": 5929253726299261796,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_45_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e9c465c2f6256f6e216bfefafba9eaca5a535db
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_45_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.3189133841370625,
+              1.0483597834802973
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+            "lift_margin": 0.19177315686244223,
+            "gripper_z": 1.050635650508705,
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+            "gripper_position": [
+              0.21933767789062908,
+              0.3138955650548823,
+              1.050635650508705
+            ],
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+              0.005173945539672459,
+              0.005017819082180186,
+              -0.002275867028407763
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+            "object_to_gripper_xy": 0.007207511414419552,
+            "object_to_gripper_z": -0.002275867028407763,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.22451162343030154,
+              0.29453660329957604,
+              1.0483597834802973
+            ],
+            "finger_b": [
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+              0.3189133841370625,
+              1.0483597834802973
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+            "finger_midpoint": [
+              0.2183854242555715,
+              0.3067249937183193,
+              1.0483597834802973
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+              0.0121883904187432,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.010947355995418608,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04827276343973261,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5141994015429157,
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+            "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,
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+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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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": [
+              0.22410324420862657,
+              0.31834912455590614,
+              1.2410611712141095
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+            "held_position": [
+              0.22965214839856585,
+              0.3229135299860407,
+              1.2387149683729806
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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": 0.007558359769916316,
+            "max_held_gripper_dist": 0.007561804485822741,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023462028411289637,
+            "max_held_gripper_z_dist": 0.0024604526749505418,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08731931954733857,
+            "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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+              0.22965214839856585,
+              0.2974492146039871,
+              1.2387149683729806
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+              0.3229135299860407,
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+              0.224518077561567,
+              0.3101813722950139,
+              1.2387149683729806
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+            "held_grasp_object_position": [
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+              0.3229135299860407,
+              1.2387149683729806
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+            "held_grasp_finger_gap": 0.027456621993864807,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02460446811561063,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07622808520749759,
+              -0.9969711933410469,
+              0.015418128087654411
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004153369687579253,
+            "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/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": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "target": "heater_platform",
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+            "min_z_margin": 0.2,
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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": 0.08565192106804549,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15736365146078107,
+            "release_required_pad_clearance": 0.05282596053402275,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.696609153411334,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b753e3f5927008269befb112037627b96ff47a5be97491a57c585b0ccfd07c94",
+    "visual_seed": 6891443928042412931,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_46_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..13916583f4801cbf8706a097c38d2b8e2370312a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_46_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.325864508127877,
+              1.0463769431644754
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+            "gripper_position": [
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+              0.32078183037651037,
+              1.0484951465961623
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+              0.0050826777513666155,
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+            "object_to_gripper_z": -0.0021182034316868936,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.30079464188196603,
+              1.0463769431644754
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+            "finger_b": [
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+              0.325864508127877,
+              1.0463769431644754
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+            "finger_midpoint": [
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+              0.31332957500492153,
+              1.0463769431644754
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+              0.01253493312295545,
+              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": 0.04814546960074659,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8064628917139581,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+        "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": [
+              0.22890028923949032,
+              0.3253078237869017,
+              1.2364760430773922
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+            "held_position": [
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+              0.3300934070950284,
+              1.2342687458950894
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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": 0.007869275617339865,
+            "max_held_gripper_dist": 0.007870960110267132,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022072971823028364,
+            "max_held_gripper_z_dist": 0.0023356434230892287,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08725015724437896,
+            "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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+              0.23474422030441888,
+              0.3044516547093472,
+              1.2342687458950894
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+              0.3300934070950284,
+              1.2342687458950894
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+              0.22945185411280455,
+              0.31727253090218777,
+              1.2342687458950894
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+            "held_grasp_object_position": [
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+              0.3300934070950284,
+              1.2342687458950894
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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": 0.025259576305716864,
+            "held_grasp_world_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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+              -0.9993820458242952,
+              0.006141639918489039
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004846122395086516,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_object": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "target": "heater_platform",
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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": 0.08775949231073989,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15479522090978282,
+            "release_required_pad_clearance": 0.053879746155369945,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7681815807887302,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cf7ff9c95da31bd795474f931f2992a6340ada79342f2a6e15e7de70761a81e0",
+    "visual_seed": 2725672921291489198,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_47_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d008977e9f7526d9a0d1985ef1b6670aa5977368
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_47_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.22848218364218215,
+              0.32695177679602205,
+              1.0460772902381625
+            ],
+            "current_z": 1.0460772902381625,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.18949090203888652,
+            "gripper_z": 1.0483585526674677,
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+            "gripper_position": [
+              0.22280831387776004,
+              0.32180000732573577,
+              1.0483585526674677
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+              0.005673869764422107,
+              0.005151769470286283,
+              -0.002281262429305153
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+            "object_to_gripper_z": -0.002281262429305153,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3019142698591167,
+              1.0460772902381625
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+            "finger_b": [
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+              0.32695177679602205,
+              1.0460772902381625
+            ],
+            "finger_midpoint": [
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+              0.3144330233275694,
+              1.0460772902381625
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+              0.006021588498251074,
+              0.012518753468452659,
+              0.0
+            ],
+            "finger_gap": 0.027783355912932173,
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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": 0.8121060772399492,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048487991723466836,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.040959877479059,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "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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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "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": [
+              0.22745171072163425,
+              0.32621497700359636,
+              1.237305917995482
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+            "held_position": [
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+              0.3310631502600405,
+              1.2349094094909574
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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": 0.008098154276425828,
+            "max_held_gripper_dist": 0.008099549415422819,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023965085045245527,
+            "max_held_gripper_z_dist": 0.0025288824907656604,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08770789025635656,
+            "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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+              0.30532832574101315,
+              1.2349094094909574
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+              0.3310631502600405,
+              1.2349094094909574
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+            "held_grasp_midpoint": [
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+              0.3181957380005268,
+              1.2349094094909574
+            ],
+            "held_grasp_object_position": [
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+              0.3310631502600405,
+              1.2349094094909574
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+            "held_grasp_finger_gap": 0.02789250749260995,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025281927496375887,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04006286579797186,
+              -0.9991472645049213,
+              0.009985520336297184
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0048603509742267004,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03212830919329835,
+            "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"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
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+      "physical_semantics": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
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+          "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": 0.08715595122990434,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15590934924619843,
+            "release_required_pad_clearance": 0.05357797561495217,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1659952546626795,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "db7123d4fa45e53d2cfdcc04eb14513627d6351eaf73becb6fb1810cbd45805e",
+    "visual_seed": 896217878324522639,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_48_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f747eac0c3cf2523c945ced720c49e6b5b13a728
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_48_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.22289670056095,
+              0.3252338617568583,
+              1.0484808627775204
+            ],
+            "current_z": 1.0484808627775204,
+            "required_z": 0.8565865670132103,
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+            "lift_margin": 0.19189429576431005,
+            "gripper_z": 1.0507143779815769,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.217318371237526,
+              0.32011919461149346,
+              1.0507143779815769
+            ],
+            "object_minus_gripper": [
+              0.005578329323424003,
+              0.0051146671453648485,
+              -0.0022335152040564576
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+            "object_to_gripper_xy": 0.007568195164532076,
+            "object_to_gripper_z": -0.0022335152040564576,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22289670056095,
+              0.30026375189307264,
+              1.0484808627775204
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+            "finger_b": [
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+              0.3252338617568583,
+              1.0484808627775204
+            ],
+            "finger_midpoint": [
+              0.21690172015826703,
+              0.3127488068249655,
+              1.0484808627775204
+            ],
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+              0.005994980402682981,
+              0.012485054931892836,
+              0.0
+            ],
+            "finger_gap": 0.02769955860160479,
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+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0138497793008024,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_top_z": 1.094097053335319,
+            "finger_top_clearance": 0.04561619055779853,
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+            "object_projection_between_fingers": 0.8126344122604356,
+            "object_to_finger_line_xy": 0.010808498535248354,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048477894025779886,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9836037944265452,
+            "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": {
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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": []
+            },
+            "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,
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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": [
+              0.22194426754618696,
+              0.32477566553694137,
+              1.239632539923357
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+            "held_position": [
+              0.2277753900506737,
+              0.3295615284267377,
+              1.2373160220947395
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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": 0.007891307123193489,
+            "max_held_gripper_dist": 0.007893052489432612,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002316517828617526,
+            "max_held_gripper_z_dist": 0.0024421676698704875,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08722519041840054,
+            "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": [
+              0.2277753900506737,
+              0.30392935525705334,
+              1.2373160220947395
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+              0.3295615284267377,
+              1.2373160220947395
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+            "held_grasp_midpoint": [
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+              0.3167454418418955,
+              1.2373160220947395
+            ],
+            "held_grasp_object_position": [
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+              0.3295615284267377,
+              1.2373160220947395
+            ],
+            "held_grasp_finger_gap": 0.027737495751565016,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025218114986458172,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03727603010567063,
+              -0.9992614120202363,
+              0.009334239491491146
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004820100054746948,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03219604090435385,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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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": [
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+            "xy_threshold": 0.08,
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+            "gripper_away_ok": true,
+            "object_z": 0.8470195230309323,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553066661996502,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08704565793207168,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15321779427037308,
+            "release_required_pad_clearance": 0.05352282896603584,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0573910856548094,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c2c53ca05eb469f1ce74d57c305ec9e8c4350e6679b71dd92e210285472e3399",
+    "visual_seed": 1587019366273599301,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_49_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..af47de5720a83ea65f8169d210012f5174f35870
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_49_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22179439307543225,
+              0.3232411891295465,
+              1.0477009031487943
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+            "current_z": 1.0477009031487943,
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+            "lift_margin": 0.19111433613558393,
+            "gripper_z": 1.05015561962328,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2164377687653382,
+              0.3182109120812258,
+              1.05015561962328
+            ],
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+              0.005356624310094038,
+              0.005030277048320708,
+              -0.0024547164744856964
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+            "object_to_gripper_xy": 0.007348272666576311,
+            "object_to_gripper_z": -0.0024547164744856964,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.22179439307543225,
+              0.2985443551119314,
+              1.0477009031487943
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+            "finger_b": [
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+              0.3232411891295465,
+              1.0477009031487943
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+            "finger_midpoint": [
+              0.21578162925001665,
+              0.31089277212073896,
+              1.0477009031487943
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+              0.006012763825415601,
+              0.012348417008807566,
+              0.0
+            ],
+            "finger_gap": 0.027469017561145816,
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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": 0.8083441727199927,
+            "object_to_finger_line_xy": 0.010811906894948667,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048609902112147524,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.899682576429816,
+            "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": {
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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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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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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": [
+              0.22115102881774598,
+              0.3223391802654223,
+              1.2409591987964919
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+            "held_position": [
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+              0.3269775212306437,
+              1.2384424549832185
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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": 0.00774720738046493,
+            "max_held_gripper_dist": 0.007748952852825671,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002516743813273381,
+            "max_held_gripper_z_dist": 0.0026349709374937635,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08733159616693742,
+            "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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+              0.30140820681205593,
+              1.2384424549832185
+            ],
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+              0.3269775212306437,
+              1.2384424549832185
+            ],
+            "held_grasp_midpoint": [
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+              0.3141928640213498,
+              1.2384424549832185
+            ],
+            "held_grasp_object_position": [
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+              0.3269775212306437,
+              1.2384424549832185
+            ],
+            "held_grasp_finger_gap": 0.027591314541957623,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02497568092845546,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.053475648064708704,
+              -0.9984665251651074,
+              0.014316186251080332
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004496610710306268,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03215796091165708,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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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": [
+              0.25739287853438203,
+              -0.38850019376757194,
+              0.8470200286871609
+            ],
+            "target_position": [
+              0.25050188475963614,
+              -0.39054454336783156,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007187848112729448,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18719236746594212,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470200286871609,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567521767870203,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08666833897167008,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15529458095829923,
+            "release_required_pad_clearance": 0.05333416948583504,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6846530325095777,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "121034635f9c2c1a8aa0e6b8401e4d25f03105df55997f332f82d629359cecd3",
+    "visual_seed": 200186567027125911,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_4_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9620969aac82010fcfb0adfa6cd3a793796480d3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_4_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.2278497391326846,
+              0.320659320492702,
+              1.0488612550265628
+            ],
+            "current_z": 1.0488612550265628,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.192274807222642,
+            "gripper_z": 1.0511055379901124,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22235444453619543,
+              0.31569784705750376,
+              1.0511055379901124
+            ],
+            "object_minus_gripper": [
+              0.005495294596489175,
+              0.00496147343519826,
+              -0.0022442829635496153
+            ],
+            "object_to_gripper_xy": 0.007403680257168131,
+            "object_to_gripper_z": -0.0022442829635496153,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2278497391326846,
+              0.29568636450720964,
+              1.0488612550265628
+            ],
+            "finger_b": [
+              0.21616299045442633,
+              0.320659320492702,
+              1.0488612550265628
+            ],
+            "finger_midpoint": [
+              0.22200636479355546,
+              0.3081728424999558,
+              1.0488612550265628
+            ],
+            "object_minus_finger_midpoint": [
+              0.005843374339129154,
+              0.012486477992746214,
+              0.0
+            ],
+            "finger_gap": 0.02757224374841683,
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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": 1.096089030251765,
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+            "fingertip_min_top_clearance": 0.014168332567560648,
+            "object_projection_between_fingers": 0.8203433939219241,
+            "object_to_finger_line_xy": 0.01058501669355122,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05017588024687385,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8902407459269628,
+            "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": [
+                {
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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": [
+              0.22686797652808585,
+              0.3205984771203344,
+              1.2395876754787922
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+            "held_position": [
+              0.23255162845383173,
+              0.32530165592962146,
+              1.2372563969322348
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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": 0.007736837195314422,
+            "max_held_gripper_dist": 0.007739412111233142,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002331278546557458,
+            "max_held_gripper_z_dist": 0.0024532624314628215,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08719196709103849,
+            "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": [
+              0.23255162845383173,
+              0.29982931340503133,
+              1.2372563969322348
+            ],
+            "held_grasp_finger_b": [
+              0.22200678175526045,
+              0.32530165592962146,
+              1.2372563969322348
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+            "held_grasp_midpoint": [
+              0.22727920510454608,
+              0.31256548466732637,
+              1.2372563969322348
+            ],
+            "held_grasp_object_position": [
+              0.23255162845383173,
+              0.32530165592962146,
+              1.2372563969322348
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+            "held_grasp_finger_gap": 0.027568714616144373,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025275507670554864,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.01731200138992797,
+              -0.9994392956470637,
+              0.028659883537386348
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005064410569089334,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0323799187298311,
+            "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": [
+              0.2606530369589337,
+              -0.379879848903317,
+              0.8470195567497808
+            ],
+            "target_position": [
+              0.2544055672620811,
+              -0.38175102824893486,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006521670779528732,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18475778193485,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195567497808,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517624606199452,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08641209382649347,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15417305443917356,
+            "release_required_pad_clearance": 0.053206046913246735,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.434194954686594,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0c447883fcdbccc7e6266b3e28c71f4e83cff08da787e0726e1fe878f2e3a53e",
+    "visual_seed": 1222815377657211774,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_50_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..74abb0f06a2333b2ac96efb4145b342aaecd7dbb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_50_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.23004065033951024,
+              0.319637284474397,
+              1.0474914672640296
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+            "gripper_z": 1.0496508061381504,
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+              0.005028355535562468,
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+            "object_to_gripper_z": -0.0021593388741207864,
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+              0.23004065033951024,
+              0.29461924028483866,
+              1.0474914672640296
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+            "finger_b": [
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+              0.319637284474397,
+              1.0474914672640296
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+              0.22415181727892314,
+              0.3071282623796178,
+              1.0474914672640296
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+              0.012509022094779165,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04960430194579801,
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+              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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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/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,
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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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+              0.3192245504266073,
+              1.2384932314156045
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+            "held_position": [
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+              0.3239796975264428,
+              1.2362447932397846
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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": 0.0078058089593094505,
+            "max_held_gripper_dist": 0.007807905641433138,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002248438175819878,
+            "max_held_gripper_z_dist": 0.002370389998941569,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08714161129084463,
+            "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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+              0.2984221865857278,
+              1.2362447932397846
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+            "held_grasp_finger_b": [
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+              0.3239796975264428,
+              1.2362447932397846
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+            "held_grasp_midpoint": [
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+              0.3112009420560853,
+              1.2362447932397846
+            ],
+            "held_grasp_object_position": [
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+              0.3239796975264428,
+              1.2362447932397846
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+            "held_grasp_finger_gap": 0.027666211076112047,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02527907640888597,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.024958310132187467,
+              -0.9994511924702184,
+              0.02178064795188339
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004984272408325585,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03229627838398549,
+            "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": [
+              0.26096909361967824,
+              -0.3838065962738661,
+              0.847019577395936
+            ],
+            "target_position": [
+              0.2548662884137228,
+              -0.3857758641828359,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006412663056728877,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18710221156527074,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019577395936,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590214931201585,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08820155732547998,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15469202696169404,
+            "release_required_pad_clearance": 0.05410077866273999,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.2143552909565987,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1a8a0ccc49cb7fa5a996b1fb3e58ca85bcba6d7ad31e88bd2819ef8f24a02dbe",
+    "visual_seed": 7784828703545071502,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_51_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eeeb6cc1878e4acf3df9c1ad6e61547ec8d053fb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_51_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.22761072332848722,
+              0.3194193972745686,
+              1.0482207507053019
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+            "lift_margin": 0.19163430290138106,
+            "gripper_z": 1.050460816680277,
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+            "gripper_position": [
+              0.2221101704964747,
+              0.3143230744657537,
+              1.050460816680277
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+              0.005500552832012534,
+              0.00509632280881489,
+              -0.0022400659749750584
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+            "object_to_gripper_z": -0.0022400659749750584,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.22761072332848722,
+              0.2947189439203344,
+              1.0482207507053019
+            ],
+            "finger_b": [
+              0.2153615153507269,
+              0.3194193972745686,
+              1.0482207507053019
+            ],
+            "finger_midpoint": [
+              0.22148611933960705,
+              0.3070691705974515,
+              1.0482207507053019
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+            "object_minus_finger_midpoint": [
+              0.006124603988880178,
+              0.012350226677117104,
+              0.0
+            ],
+            "finger_gap": 0.027570917503542156,
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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": 0.8026152574518686,
+            "object_to_finger_line_xy": 0.010973918087496056,
+            "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": 0.9580729888143757,
+            "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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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "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": [
+              0.2267786325541483,
+              0.319001889554476,
+              1.2419814418920332
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+            "held_position": [
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+              0.32370834956062244,
+              1.2396886793594215
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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": 0.0078251493894252,
+            "max_held_gripper_dist": 0.007828161785613855,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022927625326116807,
+            "max_held_gripper_z_dist": 0.0024136363098914426,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08726390360393571,
+            "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": [
+              0.23259459654530382,
+              0.2981520338538473,
+              1.2396886793594215
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+            "held_grasp_finger_b": [
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+              0.32370834956062244,
+              1.2396886793594215
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+              0.3109301917072349,
+              1.2396886793594215
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+            "held_grasp_object_position": [
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+              0.32370834956062244,
+              1.2396886793594215
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+            "held_grasp_finger_gap": 0.027689913289599914,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024871940021272892,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05939060340092249,
+              -0.9979905458903576,
+              0.022082267572433034
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004569932921881488,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03213123351329639,
+            "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": [
+              0.26215175269337393,
+              -0.38407571908830845,
+              0.8470195791066994
+            ],
+            "target_position": [
+              0.2552329168051944,
+              -0.38636838555556646,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007288800283836189,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1861648020064717,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195791066994,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580151549416345,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0856905650016576,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1538781351932542,
+            "release_required_pad_clearance": 0.0528452825008288,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7338167543628095,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1670a29057b01a4de45f768c9dd9cbf0dbcc8e4c3a0f5624a531b2f772592fa8",
+    "visual_seed": 9173795775556800983,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_52_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d96c1407f7fed3c5829dcf6dbc4a7049819e87c0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_52_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.225737717295988,
+              0.3256397495977261,
+              1.046353460958234
+            ],
+            "current_z": 1.046353460958234,
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+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1897670131543131,
+            "gripper_z": 1.04847065761007,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22032508964386743,
+              0.3207532533200975,
+              1.04847065761007
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+              0.005412627652120555,
+              0.004886496277628605,
+              -0.002117196651836073
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+            "object_to_gripper_z": -0.002117196651836073,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.225737717295988,
+              0.3007472855726569,
+              1.046353460958234
+            ],
+            "finger_b": [
+              0.2141307158520652,
+              0.3256397495977261,
+              1.046353460958234
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+            "finger_midpoint": [
+              0.2199342165740266,
+              0.31319351758519154,
+              1.046353460958234
+            ],
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+              0.0058035007219613965,
+              0.012446232012534586,
+              0.0
+            ],
+            "finger_gap": 0.027465564763146443,
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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": 1.0938237437990677,
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+            "object_projection_between_fingers": 0.8214075851733056,
+            "object_to_finger_line_xy": 0.010519604034119829,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0505883730580063,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2432204399537117,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22457508983948232,
+              0.3259979908455758,
+              1.2380698377183865
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+            "held_position": [
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+              0.33066648257915043,
+              1.2358932987546045
+            ],
+            "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": 0.007591539798018685,
+            "max_held_gripper_dist": 0.007597518147436766,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0021765389637820043,
+            "max_held_gripper_z_dist": 0.0022989580962893275,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08732185127256159,
+            "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": [
+              0.23015176802435058,
+              0.3053308055079577,
+              1.2358932987546045
+            ],
+            "held_grasp_finger_b": [
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+              0.33066648257915043,
+              1.2358932987546045
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+            "held_grasp_midpoint": [
+              0.2248227718807247,
+              0.31799864404355405,
+              1.2358932987546045
+            ],
+            "held_grasp_object_position": [
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+              0.33066648257915043,
+              1.2358932987546045
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+            "held_grasp_finger_gap": 0.02748616619775989,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025264872249034506,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.00555737796432439,
+              -0.9995431607908256,
+              0.02970833664894945
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005271995027603137,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03250855834981241,
+            "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": [
+              0.2555631626791864,
+              -0.3809140431293392,
+              0.8470198140995726
+            ],
+            "target_position": [
+              0.2502975434068671,
+              -0.38263506539907494,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005539735009361602,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18669162700069625,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198140995726,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590557403160525,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08842450041052007,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1542298283457905,
+            "release_required_pad_clearance": 0.054212250205260035,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.4386157798337367,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2b851563817152ddd09850ba11542945324e69c0afa5b820cf1151686e803303",
+    "visual_seed": 5864093746187093925,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_53_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2838d7f250747412c90bddc57a868f708ddd695
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_53_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 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": [
+              0.22733605375336058,
+              0.32294991453702604,
+              1.0484232260056707
+            ],
+            "current_z": 1.0484232260056707,
+            "required_z": 0.8565864478039209,
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+            "lift_margin": 0.19183677820174982,
+            "gripper_z": 1.050574085623002,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22199007707360222,
+              0.3179531495007899,
+              1.050574085623002
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+            "object_minus_gripper": [
+              0.005345976679758363,
+              0.004996765036236139,
+              -0.002150859617331191
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+            "object_to_gripper_xy": 0.0073175902787647375,
+            "object_to_gripper_z": -0.002150859617331191,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22733605375336058,
+              0.2983353537675375,
+              1.0484232260056707
+            ],
+            "finger_b": [
+              0.21526472862401833,
+              0.32294991453702604,
+              1.0484232260056707
+            ],
+            "finger_midpoint": [
+              0.22130039118868944,
+              0.31064263415228177,
+              1.0484232260056707
+            ],
+            "object_minus_finger_midpoint": [
+              0.00603566256467114,
+              0.012307280384744268,
+              0.0
+            ],
+            "finger_gap": 0.02741520549354197,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013707602746770992,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484232260056707,
+            "object_top_z": 1.0943455748669868,
+            "finger_top_clearance": 0.045922348861316076,
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+            "object_projection_between_fingers": 0.8061227353879046,
+            "object_to_finger_line_xy": 0.010838159357749202,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04835846651336559,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5539043400654028,
+            "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": [
+                {
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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": [
+              0.22658811931292983,
+              0.3226577348021876,
+              1.2405647810640028
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+            "held_position": [
+              0.23222855493478425,
+              0.32729020709967216,
+              1.2383541524965316
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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": 0.007626348553178375,
+            "max_held_gripper_dist": 0.007629500309207456,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002210628567471229,
+            "max_held_gripper_z_dist": 0.0023330549932665257,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0870782847795819,
+            "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": [
+              0.23222855493478425,
+              0.3018496325470492,
+              1.2383541524965316
+            ],
+            "held_grasp_finger_b": [
+              0.22171183128059083,
+              0.32729020709967216,
+              1.2383541524965316
+            ],
+            "held_grasp_midpoint": [
+              0.22697019310768754,
+              0.3145699198233607,
+              1.2383541524965316
+            ],
+            "held_grasp_object_position": [
+              0.23222855493478425,
+              0.32729020709967216,
+              1.2383541524965316
+            ],
+            "held_grasp_finger_gap": 0.027528608936636036,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024798332148823567,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05690861037178928,
+              -0.998280295325697,
+              0.014066343874348571
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004529564960171103,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032202566762574714,
+            "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": [
+              0.2631220703455764,
+              -0.3860424627570404,
+              0.8470191916288784
+            ],
+            "target_position": [
+              0.2558653296003866,
+              -0.3884707808121573,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007652255538055709,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18642535475124364,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470191916288784,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523322086333684,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08575161387767684,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1557735281656768,
+            "release_required_pad_clearance": 0.05287580693883842,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7912943916838929,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "85a820054622a43f5457e99a16cee9fd8899062d5c861b45be2be41bd66149f2",
+    "visual_seed": 1845611681058016578,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_54_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..31ba0ecd3930377421b2817fa1061ccff54597c4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_54_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.22745853754515502,
+              0.32264203377200723,
+              1.0452991000144656
+            ],
+            "current_z": 1.0452991000144656,
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+            "lift_margin": 0.18871253300125512,
+            "gripper_z": 1.04735185294086,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2219330244817269,
+              0.31765668313660306,
+              1.04735185294086
+            ],
+            "object_minus_gripper": [
+              0.0055255130634281335,
+              0.004985350635404173,
+              -0.0020527529263945077
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+            "object_to_gripper_xy": 0.00744211096208863,
+            "object_to_gripper_z": -0.0020527529263945077,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22745853754515502,
+              0.2977434600378531,
+              1.0452991000144656
+            ],
+            "finger_b": [
+              0.2155992786603676,
+              0.32264203377200723,
+              1.0452991000144656
+            ],
+            "finger_midpoint": [
+              0.22152890810276132,
+              0.31019274690493015,
+              1.0452991000144656
+            ],
+            "object_minus_finger_midpoint": [
+              0.005929629442393697,
+              0.01244928686707708,
+              0.0
+            ],
+            "finger_gap": 0.027578632948199556,
+            "fingertip_max_gap": 0.0912030306523535,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013789316474099797,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0452991000144656,
+            "object_top_z": 1.0907120943488782,
+            "finger_top_clearance": 0.04541299433441259,
+            "fingertip_min_top_clearance": 0.013623898300323794,
+            "object_projection_between_fingers": 0.8150860695086082,
+            "object_to_finger_line_xy": 0.010706790011307605,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04810151532617675,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7738218460695956,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": "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": [
+              0.22661477292066978,
+              0.3220186430457269,
+              1.2371089963747102
+            ],
+            "held_position": [
+              0.23239191374375134,
+              0.3266762454437692,
+              1.2349829198415176
+            ],
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007719379354129246,
+            "max_held_gripper_dist": 0.0077215600682590145,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0021260765331925224,
+            "max_held_gripper_z_dist": 0.00224759061677271,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08737635364827662,
+            "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": [
+              0.23239191374375134,
+              0.3011047444901403,
+              1.2349829198415176
+            ],
+            "held_grasp_finger_b": [
+              0.22192030127993484,
+              0.3266762454437692,
+              1.2349829198415176
+            ],
+            "held_grasp_midpoint": [
+              0.2271561075118431,
+              0.31389049496695476,
+              1.2349829198415176
+            ],
+            "held_grasp_object_position": [
+              0.23239191374375134,
+              0.3266762454437692,
+              1.2349829198415176
+            ],
+            "held_grasp_finger_gap": 0.02763252302294892,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025113825343412898,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04150047597196692,
+              -0.9990967010964454,
+              0.00913741496816356
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0047021570395102885,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03220873539266196,
+            "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": [
+              0.26114149945001547,
+              -0.38654000111472364,
+              0.8470195595388988
+            ],
+            "target_position": [
+              0.2540976972262299,
+              -0.38865407460871015,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007354213520546106,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18568983171718625,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195595388988,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535155397681781,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08644712274937723,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15466555692499478,
+            "release_required_pad_clearance": 0.053223561374688616,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4687073194867144,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aa0b61c7ef707ae4445c693df49ad9ac57697114777c5670cdf271f17c9572e1",
+    "visual_seed": 5384984956944102321,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_55_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..987d3a4640d3b90db0f116ec1a950d03c824be75
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_55_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23061729348926172,
+              0.324132630148179,
+              1.0479073449334844
+            ],
+            "current_z": 1.0479073449334844,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19132077792027402,
+            "gripper_z": 1.0496445652360644,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22538726219895425,
+              0.3191090083767717,
+              1.0496445652360644
+            ],
+            "object_minus_gripper": [
+              0.005230031290307469,
+              0.005023621771407305,
+              -0.0017372203025800559
+            ],
+            "object_to_gripper_xy": 0.007251896510551752,
+            "object_to_gripper_z": -0.0017372203025800559,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23061729348926172,
+              0.2996812260346566,
+              1.0479073449334844
+            ],
+            "finger_b": [
+              0.21839787131068641,
+              0.324132630148179,
+              1.0479073449334844
+            ],
+            "finger_midpoint": [
+              0.22450758239997406,
+              0.3119069280914178,
+              1.0479073449334844
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061097110892876505,
+              0.012225702056761212,
+              0.0
+            ],
+            "finger_gap": 0.027334693001770466,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013667346500885233,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0479073449334844,
+            "object_top_z": 1.09364372807634,
+            "finger_top_clearance": 0.04573638314285566,
+            "fingertip_min_top_clearance": 0.013720914942856698,
+            "object_projection_between_fingers": 0.8001643633763837,
+            "object_to_finger_line_xy": 0.010930506141142006,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04803326266445844,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3607338608386245,
+            "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": []
+          }
+        },
+        "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": [
+              0.23032673206629686,
+              0.32307291506023594,
+              1.2410865299845235
+            ],
+            "held_position": [
+              0.23594393523559162,
+              0.3276369682020964,
+              1.2392907564020992
+            ],
+            "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": 0.007457100997451673,
+            "max_held_gripper_dist": 0.007460531754289138,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0017957735824243315,
+            "max_held_gripper_z_dist": 0.0019179101132422716,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08761830365414774,
+            "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": [
+              0.23594393523559162,
+              0.30208252158799986,
+              1.2392907564020992
+            ],
+            "held_grasp_finger_b": [
+              0.2257073005576681,
+              0.3276369682020964,
+              1.2392907564020992
+            ],
+            "held_grasp_midpoint": [
+              0.23082561789662986,
+              0.31485974489504814,
+              1.2392907564020992
+            ],
+            "held_grasp_object_position": [
+              0.23594393523559162,
+              0.3276369682020964,
+              1.2392907564020992
+            ],
+            "held_grasp_finger_gap": 0.02752850216197709,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02465529485295882,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07968681115165362,
+              -0.9967353240714061,
+              0.012988682641043466
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004087343270319998,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032056852764923205,
+            "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": [
+              0.25813792547578907,
+              -0.3856626187507153,
+              0.8470196664607993
+            ],
+            "target_position": [
+              0.25143717216840406,
+              -0.3875749347538634,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006968288698262117,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18466144397867054,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196664607993,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547244452396677,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08543461560559508,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15320326695865363,
+            "release_required_pad_clearance": 0.05271730780279754,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4877865124032134,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5b6b2f5ba2e07b49d187ee22cd0e7e5f46204b9f7d6317796d702c8c5752e346",
+    "visual_seed": 1278202238039297584,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_56_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..da8e0785ba7f7f10b7cea2ff979e71500c5cc8f8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_56_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22928548427121836,
+              0.31826054334698806,
+              1.0489803924070837
+            ],
+            "current_z": 1.0489803924070837,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.1923938253938734,
+            "gripper_z": 1.0512451554962035,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22374852248423976,
+              0.31319989987582825,
+              1.0512451554962035
+            ],
+            "object_minus_gripper": [
+              0.0055369617869786,
+              0.005060643471159809,
+              -0.0022647630891197146
+            ],
+            "object_to_gripper_xy": 0.007501203781570906,
+            "object_to_gripper_z": -0.0022647630891197146,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22928548427121836,
+              0.29336245398173294,
+              1.0489803924070837
+            ],
+            "finger_b": [
+              0.2173048493244687,
+              0.31826054334698806,
+              1.0489803924070837
+            ],
+            "finger_midpoint": [
+              0.22329516679784353,
+              0.3058114986643605,
+              1.0489803924070837
+            ],
+            "object_minus_finger_midpoint": [
+              0.005990317473374834,
+              0.01244904468262753,
+              0.0
+            ],
+            "finger_gap": 0.02763060744477959,
+            "fingertip_max_gap": 0.09052838087785015,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01381530372238977,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0489803924070837,
+            "object_top_z": 1.0943247445977127,
+            "finger_top_clearance": 0.045344352190628934,
+            "fingertip_min_top_clearance": 0.013603305657188647,
+            "object_projection_between_fingers": 0.8119909283086721,
+            "object_to_finger_line_xy": 0.010795814755532283,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047764190438925075,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.479864776135447,
+            "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",
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+              ],
+              "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": [
+              0.22855752328616327,
+              0.31726144111375804,
+              1.240982086376315
+            ],
+            "held_position": [
+              0.23437775586665216,
+              0.321953767449173,
+              1.2386371424074627
+            ],
+            "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": 0.007835291695021306,
+            "max_held_gripper_dist": 0.00783698086895016,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00234494396885232,
+            "max_held_gripper_z_dist": 0.00246626699123742,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08772129936194806,
+            "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": [
+              0.23437775586665216,
+              0.2963092510496406,
+              1.2386371424074627
+            ],
+            "held_grasp_finger_b": [
+              0.22393082112324839,
+              0.321953767449173,
+              1.2386371424074627
+            ],
+            "held_grasp_midpoint": [
+              0.2291542884949503,
+              0.3091315092494068,
+              1.2386371424074627
+            ],
+            "held_grasp_object_position": [
+              0.23437775586665216,
+              0.321953767449173,
+              1.2386371424074627
+            ],
+            "held_grasp_finger_gap": 0.027690786678944694,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025051706109220702,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05322974782419414,
+              -0.9985680140029808,
+              0.005339977220521264
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004534064706987221,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03211828420927323,
+            "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": [
+              0.2613758998761511,
+              -0.386593965101202,
+              0.8470195057191745
+            ],
+            "target_position": [
+              0.25449106054181453,
+              -0.38869067359695975,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0071970271067859064,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18859760435804665,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195057191745,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529652894513754,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08542288728199172,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15754831384438028,
+            "release_required_pad_clearance": 0.052711443640995864,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.47642216417413497,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2dbfaa89ec7a20fcea55a2107651010d0b45d659280b821f2485c0f5752f5347",
+    "visual_seed": 2947082227491560932,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_57_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..51edc534e0aa73c6d6503405f46370297b58536b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_57_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22351183720167614,
+              0.3211398010884604,
+              1.044765458676419
+            ],
+            "current_z": 1.044765458676419,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.1881788320585639,
+            "gripper_z": 1.0475886843762987,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21781689914995983,
+              0.31594899960371237,
+              1.0475886843762987
+            ],
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+              0.005694938051716308,
+              0.005190801484748042,
+              -0.0028232256998796945
+            ],
+            "object_to_gripper_xy": 0.007705630374404733,
+            "object_to_gripper_z": -0.0028232256998796945,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22351183720167614,
+              0.2961104118826272,
+              1.044765458676419
+            ],
+            "finger_b": [
+              0.21138221009094443,
+              0.3211398010884604,
+              1.044765458676419
+            ],
+            "finger_midpoint": [
+              0.2174470236463103,
+              0.3086251064855438,
+              1.044765458676419
+            ],
+            "object_minus_finger_midpoint": [
+              0.006064813555365839,
+              0.012514694602916598,
+              0.0
+            ],
+            "finger_gap": 0.027813632949733068,
+            "fingertip_max_gap": 0.09220199318322878,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013906816474866527,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.044765458676419,
+            "object_top_z": 1.090404977334686,
+            "finger_top_clearance": 0.045639518658266987,
+            "fingertip_min_top_clearance": 0.013691855597480079,
+            "object_projection_between_fingers": 0.8098135982533913,
+            "object_to_finger_line_xy": 0.010915408225340916,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04860099659161439,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1596338387671157,
+            "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": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": [
+              0.2223274837042261,
+              0.3205141684658117,
+              1.238170135348693
+            ],
+            "held_position": [
+              0.22830704829087492,
+              0.32535892144009965,
+              1.2352860902619636
+            ],
+            "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": 0.008218548539131731,
+            "max_held_gripper_dist": 0.008220349347680697,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0028840450867293477,
+            "max_held_gripper_z_dist": 0.0030063574719065844,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08732581452395827,
+            "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": [
+              0.22830704829087492,
+              0.2996448972887233,
+              1.2352860902619636
+            ],
+            "held_grasp_finger_b": [
+              0.21751620809137806,
+              0.32535892144009965,
+              1.2352860902619636
+            ],
+            "held_grasp_midpoint": [
+              0.22291162819112648,
+              0.31250190936441147,
+              1.2352860902619636
+            ],
+            "held_grasp_object_position": [
+              0.22830704829087492,
+              0.32535892144009965,
+              1.2352860902619636
+            ],
+            "held_grasp_finger_gap": 0.027886435237739586,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025308821069390593,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03592912172173304,
+              -0.9993195280958257,
+              0.0083414014794444
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004931179293638192,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03215810902010799,
+            "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": [
+              0.2572381508581496,
+              -0.38678979153631593,
+              0.8470195379657852
+            ],
+            "target_position": [
+              0.25018482084874055,
+              -0.3892101993742569,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00745706633493335,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18687697753539229,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195379657852,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564371356165638,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0877143354722283,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15508533115883075,
+            "release_required_pad_clearance": 0.05385716773611415,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7234250337744843,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e19d40e6075b58f75f3f61f4522f9cb98fb7936382b6f8a14546dc2140062eef",
+    "visual_seed": 2080510545511635633,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_58_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fc12e33efcf6977a90e05b6a994a90eddb50550
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_58_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23000483212354458,
+              0.3212928829361085,
+              1.0463431522136304
+            ],
+            "current_z": 1.0463431522136304,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1897567044097096,
+            "gripper_z": 1.0484313744768352,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22456839321502176,
+              0.31620416720759553,
+              1.0484313744768352
+            ],
+            "object_minus_gripper": [
+              0.005436438908522828,
+              0.005088715728512994,
+              -0.0020882222632048197
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+            "object_to_gripper_xy": 0.0074464686779517454,
+            "object_to_gripper_z": -0.0020882222632048197,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23000483212354458,
+              0.29656257797286556,
+              1.0463431522136304
+            ],
+            "finger_b": [
+              0.21786610339642926,
+              0.3212928829361085,
+              1.0463431522136304
+            ],
+            "finger_midpoint": [
+              0.2239354677599869,
+              0.30892773045448707,
+              1.0463431522136304
+            ],
+            "object_minus_finger_midpoint": [
+              0.006069364363557678,
+              0.012365152481621455,
+              0.0
+            ],
+            "finger_gap": 0.027548806120873816,
+            "fingertip_max_gap": 0.090512003941912,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01377440306043689,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0463431522136304,
+            "object_top_z": 1.0917394394857742,
+            "finger_top_clearance": 0.04539628727214384,
+            "fingertip_min_top_clearance": 0.013618886181643152,
+            "object_projection_between_fingers": 0.8058484568177066,
+            "object_to_finger_line_xy": 0.010896822968316653,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047756001970956,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.15857038304806462,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": 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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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": [
+              0.22937826061615632,
+              0.32014098098090304,
+              1.2382814000743472
+            ],
+            "held_position": [
+              0.23515158585858573,
+              0.3248128854298874,
+              1.236120086770687
+            ],
+            "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": 0.007734937021843873,
+            "max_held_gripper_dist": 0.00773978334379911,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002161313303660206,
+            "max_held_gripper_z_dist": 0.0022843300075072737,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08766633553325615,
+            "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": [
+              0.23515158585858573,
+              0.2991699110506685,
+              1.236120086770687
+            ],
+            "held_grasp_finger_b": [
+              0.2247676783323901,
+              0.3248128854298874,
+              1.236120086770687
+            ],
+            "held_grasp_midpoint": [
+              0.22995963209548792,
+              0.31199139824027794,
+              1.236120086770687
+            ],
+            "held_grasp_object_position": [
+              0.23515158585858573,
+              0.3248128854298874,
+              1.236120086770687
+            ],
+            "held_grasp_finger_gap": 0.027665640612967203,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02486893294896907,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06862089677348608,
+              -0.9976021352718277,
+              0.009008453090982636
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004301487573776702,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03205320544486574,
+            "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": [
+              0.2621141438305268,
+              -0.38445244824147046,
+              0.8470210371573221
+            ],
+            "target_position": [
+              0.25457225419590784,
+              -0.38698479040863476,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007955680744749059,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1875668525691692,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470210371573221,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550260016731597,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08526878956243343,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15616597993010095,
+            "release_required_pad_clearance": 0.05263439478121672,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3213846508339272,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5a041031ed5621b3cbe5310ad796e7379c51218b38d3c537e95c8e5ff422afbb",
+    "visual_seed": 4550085016100895454,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_59_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..af74cf4c32f4776460b4177e371c4b9d28f4ac91
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_59_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22344823792415455,
+              0.3269232736534929,
+              1.0460341456841524
+            ],
+            "current_z": 1.0460341456841524,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.18944757867094209,
+            "gripper_z": 1.0485132423684387,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2178568869231376,
+              0.3217666778815153,
+              1.0485132423684387
+            ],
+            "object_minus_gripper": [
+              0.005591351001016959,
+              0.005156595771977579,
+              -0.0024790966842862527
+            ],
+            "object_to_gripper_xy": 0.007606161053524333,
+            "object_to_gripper_z": -0.0024790966842862527,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22344823792415455,
+              0.3019917637263644,
+              1.0460341456841524
+            ],
+            "finger_b": [
+              0.21133369852373918,
+              0.3269232736534929,
+              1.0460341456841524
+            ],
+            "finger_midpoint": [
+              0.21739096822394688,
+              0.31445751868992866,
+              1.0460341456841524
+            ],
+            "object_minus_finger_midpoint": [
+              0.006057269700207674,
+              0.012465754963564224,
+              0.0
+            ],
+            "finger_gap": 0.02771898721329341,
+            "fingertip_max_gap": 0.09224508972765358,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013859493606646674,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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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",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": [
+              0.22244320378806431,
+              0.32619785608000895,
+              1.2361251895137635
+            ],
+            "held_position": [
+              0.2283060584658809,
+              0.3309893595681303,
+              1.2335447263204318
+            ],
+            "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": 0.007999397536190745,
+            "max_held_gripper_dist": 0.00800184171217876,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002580463193331717,
+            "max_held_gripper_z_dist": 0.0027067620418093075,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08762920862264745,
+            "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": [
+              0.2283060584658809,
+              0.3053337276614207,
+              1.2335447263204318
+            ],
+            "held_grasp_finger_b": [
+              0.2177404581471914,
+              0.3309893595681303,
+              1.2335447263204318
+            ],
+            "held_grasp_midpoint": [
+              0.22302325830653613,
+              0.3181615436147755,
+              1.2335447263204318
+            ],
+            "held_grasp_object_position": [
+              0.2283060584658809,
+              0.3309893595681303,
+              1.2335447263204318
+            ],
+            "held_grasp_finger_gap": 0.027746051225838744,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025206230670843963,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.040404254888395406,
+              -0.9991227646381021,
+              0.011008967655019575
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004762317176181476,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03217021442206355,
+            "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": [
+              0.2563491657014655,
+              -0.38335528931957025,
+              0.8470195356290664
+            ],
+            "target_position": [
+              0.24962750391136967,
+              -0.385607269936629,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007088875363556795,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18680345344948934,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195356290664,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529926690660899,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08679841277564872,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1558779273269343,
+            "release_required_pad_clearance": 0.05339920638782436,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8131003865015665,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "859f386ab16c39e5e18c82bc6de1e4b947f51ad41640b971cec6df83badda809",
+    "visual_seed": 2320232335565157178,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_5_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2e853fcccb0c17b7a4fed89af06fd433b96a326
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_5_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.228005263706221,
+              0.3260898572201978,
+              1.0455172238465835
+            ],
+            "current_z": 1.0455172238465835,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.1889305972287284,
+            "gripper_z": 1.047840959433301,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22230839454487136,
+              0.3209820014018952,
+              1.047840959433301
+            ],
+            "object_minus_gripper": [
+              0.005696869161349649,
+              0.005107855818302587,
+              -0.0023237355867173903
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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",
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+                "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",
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+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.22674255256891618,
+              0.3256687403674389,
+              1.2372785231228527
+            ],
+            "held_position": [
+              0.23266003871492047,
+              0.33048517062282545,
+              1.234885516266848
+            ],
+            "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": 0.007996319434967637,
+            "max_held_gripper_dist": 0.007997674590898767,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023930068560047424,
+            "max_held_gripper_z_dist": 0.002524160425594113,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08724949585088265,
+            "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": [
+              0.23266003871492047,
+              0.30488165447672533,
+              1.234885516266848
+            ],
+            "held_grasp_finger_b": [
+              0.22185576935971268,
+              0.33048517062282545,
+              1.234885516266848
+            ],
+            "held_grasp_midpoint": [
+              0.22725790403731658,
+              0.3176834125497754,
+              1.234885516266848
+            ],
+            "held_grasp_object_position": [
+              0.23266003871492047,
+              0.33048517062282545,
+              1.234885516266848
+            ],
+            "held_grasp_finger_gap": 0.02778978724897857,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02536078768899643,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02058608764842958,
+              -0.9992067175045705,
+              0.034090301979781794
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00515611527572545,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03229741348538901,
+            "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": [
+              0.25528192819116224,
+              -0.3815973437759972,
+              0.8470198103070787
+            ],
+            "target_position": [
+              0.24962980576721505,
+              -0.3835587802853953,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005982785394420108,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18573220211046443,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198103070787,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584751984986216,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08710050160107229,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15341227793197426,
+            "release_required_pad_clearance": 0.053550250800536145,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1107229800218184,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0490838afe56577d2cbb368858572eb4a417b23a8cf7ac918727b316862a0fc2",
+    "visual_seed": 5372307118028617244,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_60_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e694264da5013d130a5b9505f8d57a2500ebca4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_60_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
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+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_61_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4688cc3ddc563bbf97de6f08422c75440b5250a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_61_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+            "object_position": [
+              0.2261774490201531,
+              0.322520120978546,
+              1.046049642855714
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+            "required_z": 0.8565865074085656,
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+            "lift_margin": 0.18946313544714843,
+            "gripper_z": 1.048099281812125,
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+            "gripper_position": [
+              0.22083901322861207,
+              0.31754245158870126,
+              1.048099281812125
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+              0.00533843579154103,
+              0.00497766938984473,
+              -0.0020496389564110817
+            ],
+            "object_to_gripper_xy": 0.007299047147059917,
+            "object_to_gripper_z": -0.0020496389564110817,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2261774490201531,
+              0.2978039778550919,
+              1.046049642855714
+            ],
+            "finger_b": [
+              0.21427316926125098,
+              0.322520120978546,
+              1.046049642855714
+            ],
+            "finger_midpoint": [
+              0.22022530914070204,
+              0.3101620494168189,
+              1.046049642855714
+            ],
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+              0.01235807156172708,
+              0.0
+            ],
+            "finger_gap": 0.027433548940617843,
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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": 1.0914350400501958,
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+            "object_projection_between_fingers": 0.8117034939026513,
+            "object_to_finger_line_xy": 0.010725111903660113,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04787857277847918,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.39439419603328607,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": "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": [
+              0.22540213580677027,
+              0.32203420286929885,
+              1.2362637054057029
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+            "held_position": [
+              0.2310104475927058,
+              0.32666308144862377,
+              1.234121335179131
+            ],
+            "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": 0.007580859329792272,
+            "max_held_gripper_dist": 0.007582504892302131,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0021423702265719324,
+            "max_held_gripper_z_dist": 0.002261671243628305,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08753683808227869,
+            "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": [
+              0.2310104475927058,
+              0.3011922044177073,
+              1.234121335179131
+            ],
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+              0.22066217345630001,
+              0.32666308144862377,
+              1.234121335179131
+            ],
+            "held_grasp_midpoint": [
+              0.22583631052450293,
+              0.31392764293316555,
+              1.234121335179131
+            ],
+            "held_grasp_object_position": [
+              0.2310104475927058,
+              0.32666308144862377,
+              1.234121335179131
+            ],
+            "held_grasp_finger_gap": 0.027492769128013905,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024881446075415422,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05334153127636773,
+              -0.9985301579151706,
+              0.009602331747903925
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004489145134754381,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03220750913959955,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "target": "heater_platform",
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+              0.8470197665444212
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+            "gripper_away_ok": true,
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+            "min_z_margin": 0.2,
+            "require_object_upright": true,
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+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520792139104797,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08532639438766314,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1550929700892144,
+            "release_required_pad_clearance": 0.05266319719383157,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.38359377632813674,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "52102e0181dc9d7885c0149ba692b631bf71823b5747f7d02e3cfd64e13c41e5",
+    "visual_seed": 67909454182314680,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_62_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8f09a0383fa1c352446519efd5c257c4cb4eca4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_62_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.3264208927550448,
+              1.0466909748132318
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+            "lift_margin": 0.19010440780002147,
+            "gripper_z": 1.0486677815187921,
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+            "gripper_position": [
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+              0.32133209834704457,
+              1.0486677815187921
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+              0.005088794408000252,
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+            "object_to_gripper_z": -0.00197680670556033,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23088006470469738,
+              0.30144729166297735,
+              1.0466909748132318
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+              0.21888391267721538,
+              0.3264208927550448,
+              1.0466909748132318
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+            "finger_midpoint": [
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+              0.3139340922090111,
+              1.0466909748132318
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+              0.012486800546033738,
+              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": [
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+              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": {
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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": []
+            },
+            "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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+              0.32576981111185915,
+              1.236290718049394
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+            "held_position": [
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+              0.330539222922281,
+              1.2342230566971881
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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": 0.0078399155939006,
+            "max_held_gripper_dist": 0.007842714454199871,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0020676613522059295,
+            "max_held_gripper_z_dist": 0.0021991109933361397,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08717946058055387,
+            "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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+              0.30493664337327764,
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+              0.330539222922281,
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+              0.23038162517564598,
+              0.3177379331477793,
+              1.2342230566971881
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+            "held_grasp_object_position": [
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+              0.330539222922281,
+              1.2342230566971881
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+            "held_grasp_finger_gap": 0.02772237959024338,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025306176332719473,
+            "held_grasp_world_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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+              -0.9993393023419088,
+              0.02509828973912676
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+            "held_grasp_object_to_finger_line_xy": 0.004988092344819814,
+            "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,
+        "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": {
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+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "target": "heater_platform",
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08725453717488958,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15311439429889662,
+            "release_required_pad_clearance": 0.05362726858744479,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.261461035718427,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "131b26beafbda179142baa9d0f0ec5607d12509efc5cc537dcaf1f1f8be52edf",
+    "visual_seed": 2159813964001786903,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_63_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c47fa53aa1f48adca64c63489505d5c48a66fa1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_63_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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",
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+          "metrics": {
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+            "active_arm": null,
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+              0.31862633306023747,
+              1.0470617079181312
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+            "lift_margin": 0.19047508130027613,
+            "gripper_z": 1.0494607039650918,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.31354171043516,
+              1.0494607039650918
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+              0.005646588183478518,
+              0.005084622625077473,
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+            "object_to_gripper_z": -0.0023989960469605887,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.22602706220935728,
+              0.29361618607925133,
+              1.0470617079181312
+            ],
+            "finger_b": [
+              0.21406518583426923,
+              0.31862633306023747,
+              1.0470617079181312
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+            "finger_midpoint": [
+              0.22004612402181326,
+              0.3061212595697444,
+              1.0470617079181312
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+              0.012505073490493068,
+              0.0
+            ],
+            "finger_gap": 0.02772352680348263,
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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": 0.010791133769883703,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04833855208382866,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7355082399613779,
+            "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": {
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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": []
+            },
+            "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": [
+              0.22499986290781798,
+              0.31778963716024766,
+              1.2399884247603037
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+            "held_position": [
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+              0.3225471734661387,
+              1.2375308887476042
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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": 0.007966809443125758,
+            "max_held_gripper_dist": 0.007970253047350894,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0024575360126994905,
+            "max_held_gripper_z_dist": 0.0025786100431237635,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08792052668081785,
+            "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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+              0.23089871175716914,
+              0.29688873495276824,
+              1.2375308887476042
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+              0.3225471734661387,
+              1.2375308887476042
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+              0.22557111371065275,
+              0.30971795420945347,
+              1.2375308887476042
+            ],
+            "held_grasp_object_position": [
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+              0.3225471734661387,
+              1.2375308887476042
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+            "held_grasp_finger_gap": 0.027782884492532325,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025197033050097913,
+            "held_grasp_world_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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+              -0.9990890679297446,
+              0.011446545613171042
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0047979746373577005,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03216367607200377,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_object": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470199916877521,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588422958993302,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08694127101174225,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15386801357686528,
+            "release_required_pad_clearance": 0.053470635505871125,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9535735925037465,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a6383eeb08dd5585ae0a1f653b5afefebc83b8d1bf7e72b6614a333f49efdbd0",
+    "visual_seed": 7235251318226253696,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_64_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c96a062e04950ebbb4261c626e419b1a2a435c2a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_64_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.22304143727152767,
+              0.3285653376999899,
+              1.0469181355633457
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+            "current_z": 1.0469181355633457,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19033156855013533,
+            "gripper_z": 1.0490263681193952,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2174980967930083,
+              0.3234540006989037,
+              1.0490263681193952
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+              0.005543340478519371,
+              0.005111337001086236,
+              -0.0021082325560495274
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+            "object_to_gripper_xy": 0.007540184984432716,
+            "object_to_gripper_z": -0.0021082325560495274,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.22304143727152767,
+              0.303715782355827,
+              1.0469181355633457
+            ],
+            "finger_b": [
+              0.2109255140064685,
+              0.3285653376999899,
+              1.0469181355633457
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+            "finger_midpoint": [
+              0.21698347563899809,
+              0.31614056002790847,
+              1.0469181355633457
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+            "object_minus_finger_midpoint": [
+              0.006057961632529585,
+              0.012424777672081444,
+              0.0
+            ],
+            "finger_gap": 0.027645903808112632,
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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": 1.0926280001289015,
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+            "object_to_finger_line_xy": 0.010890412836941447,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04852879961602742,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.902595324544936,
+            "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,
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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": [
+              0.2221756180026192,
+              0.32769372379879447,
+              1.2381440075078043
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+            "held_position": [
+              0.2280423971536917,
+              0.3324346481002922,
+              1.2359535033270477
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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": 0.007854538140839546,
+            "max_held_gripper_dist": 0.007855180426108275,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002190504180756614,
+            "max_held_gripper_z_dist": 0.0023155712781632865,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08780655042875829,
+            "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": [
+              0.2280423971536917,
+              0.3067773042587526,
+              1.2359535033270477
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+              0.3324346481002922,
+              1.2359535033270477
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+              0.22276622435268537,
+              0.3196059761795224,
+              1.2359535033270477
+            ],
+            "held_grasp_object_position": [
+              0.2280423971536917,
+              0.3324346481002922,
+              1.2359535033270477
+            ],
+            "held_grasp_finger_gap": 0.027742589834175668,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02511117409710344,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.048738436604088074,
+              -0.9987580586094628,
+              0.01033949515431942
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004646584663421302,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03213033309011093,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "attach_object": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 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,
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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": 0.085266077010851,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1544239320405923,
+            "release_required_pad_clearance": 0.0526330385054255,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.32625879963828874,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "823c8539409122c9f53a522b01a8e5f030e5f361e0684f4e1b5448a84a931820",
+    "visual_seed": 6726694245111267206,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_65_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fedb8bdfe660791e1cd7ca1805d32d96994a1030
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_65_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.23054533508028263,
+              0.32197898456550117,
+              1.0458100925828893
+            ],
+            "current_z": 1.0458100925828893,
+            "required_z": 0.8565865670132105,
+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.1892235255696788,
+            "gripper_z": 1.0479629011921179,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22497086852375925,
+              0.31680980366137923,
+              1.0479629011921179
+            ],
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+              0.005574466556523383,
+              0.005169180904121939,
+              -0.002152808609228618
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+            "object_to_gripper_xy": 0.007602309426045258,
+            "object_to_gripper_z": -0.002152808609228618,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23054533508028263,
+              0.2971915430632965,
+              1.0458100925828893
+            ],
+            "finger_b": [
+              0.2182442727180819,
+              0.32197898456550117,
+              1.0458100925828893
+            ],
+            "finger_midpoint": [
+              0.22439480389918226,
+              0.3095852638143988,
+              1.0458100925828893
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061505311811003716,
+              0.012393720751102344,
+              0.0
+            ],
+            "finger_gap": 0.027671888108041547,
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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": 1.0919504838830603,
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+            "object_projection_between_fingers": 0.80239057493698,
+            "object_to_finger_line_xy": 0.011018831188082683,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04858801439038429,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.640499338824177,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "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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+      },
+      "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": [
+              0.22952137050683877,
+              0.32164441813992983,
+              1.2392779428644278
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+            "held_position": [
+              0.2354011048251597,
+              0.3264387568277072,
+              1.2370763291903537
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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": 0.007899624160492037,
+            "max_held_gripper_dist": 0.007902914126870064,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002201613674074121,
+            "max_held_gripper_z_dist": 0.0023275320128099963,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0871019311744421,
+            "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": [
+              0.2354011048251597,
+              0.30084069493327187,
+              1.2370763291903537
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+              0.3264387568277072,
+              1.2370763291903537
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+              0.2300009827861328,
+              0.3136397258804895,
+              1.2370763291903537
+            ],
+            "held_grasp_object_position": [
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+              0.3264387568277072,
+              1.2370763291903537
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+            "held_grasp_finger_gap": 0.02778319716837639,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024947127399990537,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05623217229346946,
+              -0.9982962261433704,
+              0.015575226067771838
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0046762123378399035,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03211934008000686,
+            "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"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
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+              -0.3794663910067706,
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18647198708989637,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019622432535,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584553734838424,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08583177372080762,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15424506167176402,
+            "release_required_pad_clearance": 0.05291588686040381,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8704250933132005,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "34a6483854297a6f52f154dbcb236d249586a85b668e59def9e59fa63213688a",
+    "visual_seed": 5590451963976031963,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_66_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7c40a96a3e7df6886899bf446e297724266dbe4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_66_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.22418377078233123,
+              0.32398519950117444,
+              1.0449453323547289
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+            "current_z": 1.0449453323547289,
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+            "lift_margin": 0.18835888455080807,
+            "gripper_z": 1.0471497501184963,
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+            "gripper_position": [
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+              0.3189267063814002,
+              1.0471497501184963
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+              0.005266962883910931,
+              0.005058493119774243,
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+            "object_to_gripper_xy": 0.007302687906743564,
+            "object_to_gripper_z": -0.0022044177637674522,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.22418377078233123,
+              0.2994819608035819,
+              1.0449453323547289
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+            "finger_b": [
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+              0.32398519950117444,
+              1.0449453323547289
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+            "finger_midpoint": [
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+              0.3117335801523782,
+              1.0449453323547289
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+              0.012251619348796261,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.01094442355317834,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048333395749616995,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6076867096063301,
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+            "object_upright_axis_local": [
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+              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"
+                },
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+                }
+              ],
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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_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "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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+              0.3233907326595552,
+              1.2363559431017743
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+              0.3280131490128478,
+              1.2340708936067768
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007626884759029244,
+            "max_held_gripper_dist": 0.007630662294754773,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022850494949975264,
+            "max_held_gripper_z_dist": 0.002404420699739118,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08782169763003622,
+            "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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+              0.30250111396834173,
+              1.2340708936067768
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+              0.31525713149059476,
+              1.2340708936067768
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+            "held_grasp_object_position": [
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+              0.3280131490128478,
+              1.2340708936067768
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+            "held_grasp_finger_gap": 0.0275238090767562,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02467897449359892,
+            "held_grasp_world_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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+              -0.9971220306444241,
+              0.018420415170436133
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004219353298821175,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03210110002316065,
+            "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": {
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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": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.25852385005123557,
+              -0.38045025515433367,
+              0.8470195666518487
+            ],
+            "target_position": [
+              0.2523121645621255,
+              -0.3822264511490234,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0064606430660710795,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1844929562726078,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195666518487,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555119286823866,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08576834003578489,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15285066175174297,
+            "release_required_pad_clearance": 0.052884170017892446,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8089034918650742,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "48e01f3156cd8bef31989842dba9a05c551152d31a6b8fa0f68fe92379b8b634",
+    "visual_seed": 8007956343558089200,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_67_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7c4d5c5ba6be7174ccec96da79b949506500193
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_67_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.23067250708013676,
+              0.32292385799536305,
+              1.0477789560975215
+            ],
+            "current_z": 1.0477789560975215,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1911924486889559,
+            "gripper_z": 1.0497440851418383,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22516518777148709,
+              0.31784237720361075,
+              1.0497440851418383
+            ],
+            "object_minus_gripper": [
+              0.005507319308649672,
+              0.005081480791752302,
+              -0.0019651290443167824
+            ],
+            "object_to_gripper_xy": 0.007493464686269836,
+            "object_to_gripper_z": -0.0019651290443167824,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23067250708013676,
+              0.29820289787915105,
+              1.0477789560975215
+            ],
+            "finger_b": [
+              0.21846684983477485,
+              0.32292385799536305,
+              1.0477789560975215
+            ],
+            "finger_midpoint": [
+              0.2245696784574558,
+              0.3105633779372571,
+              1.0477789560975215
+            ],
+            "object_minus_finger_midpoint": [
+              0.006102828622680967,
+              0.012360480058105972,
+              0.0
+            ],
+            "finger_gap": 0.027569982550930277,
+            "fingertip_max_gap": 0.09201213357438384,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01378499127546512,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0477789560975215,
+            "object_top_z": 1.093939837953991,
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+            "fingertip_min_top_clearance": 0.013848264556940881,
+            "object_projection_between_fingers": 0.8040030298869869,
+            "object_to_finger_line_xy": 0.010944350994685857,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04850606678719192,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6410144306372286,
+            "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": []
+          }
+        },
+        "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": [
+              0.22986070661056146,
+              0.32243940264145576,
+              1.2390952246526514
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+            "held_position": [
+              0.23567269201489133,
+              0.32713835074936376,
+              1.2370569073631064
+            ],
+            "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": 0.0077468719515565694,
+            "max_held_gripper_dist": 0.00774880899351012,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0020383172895450663,
+            "max_held_gripper_z_dist": 0.002163888223694288,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08723463676801446,
+            "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": [
+              0.23567269201489133,
+              0.3015902365462688,
+              1.2370569073631064
+            ],
+            "held_grasp_finger_b": [
+              0.22507388005908088,
+              0.32713835074936376,
+              1.2370569073631064
+            ],
+            "held_grasp_midpoint": [
+              0.2303732860369861,
+              0.31436429364781626,
+              1.2370569073631064
+            ],
+            "held_grasp_object_position": [
+              0.23567269201489133,
+              0.32713835074936376,
+              1.2370569073631064
+            ],
+            "held_grasp_finger_gap": 0.027659373713246144,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0248585300454593,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06029232841292526,
+              -0.998021102222764,
+              0.01785258111890942
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004525481280706636,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032131932891854564,
+            "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": [
+              0.2640823681178123,
+              -0.3831731621701037,
+              0.8470197369713066
+            ],
+            "target_position": [
+              0.2567377645480457,
+              -0.38571021963867363,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007770448004835698,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18520713974384792,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197369713066,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752663598263876,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08593401778892974,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15439171807187183,
+            "release_required_pad_clearance": 0.05296700889446487,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9683275114869764,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "851fc76e5ff54f33c2ff32a91f282dd9c16231373b4074e79407e0635dbf6776",
+    "visual_seed": 3230980943604294602,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_68_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..86ff3b782d71e7dc1323b46b733b69ff0bb3f2de
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_68_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.22248397989167798,
+              0.325313018989785,
+              1.0482405798566983
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+            "gripper_z": 1.0506399695270263,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21703916013694527,
+              0.3202062982101975,
+              1.0506399695270263
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+              0.005106720779587459,
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+            "object_to_gripper_z": -0.002399389670328045,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.22248397989167798,
+              0.30064644862266593,
+              1.0482405798566983
+            ],
+            "finger_b": [
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+              0.325313018989785,
+              1.0482405798566983
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+              0.2163594687425101,
+              0.31297973380622546,
+              1.0482405798566983
+            ],
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+              0.012333285183559528,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010970808430167237,
+            "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": 0.7589933025697247,
+            "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": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22161752551204644,
+              0.32480214464860735,
+              1.23987285906061
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+            "held_position": [
+              0.22738774842626794,
+              0.3295133461578095,
+              1.237390108349622
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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": 0.007852066176047376,
+            "max_held_gripper_dist": 0.007853324370237546,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0024827507109881353,
+            "max_held_gripper_z_dist": 0.002606528437910871,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08710310753732858,
+            "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": [
+              0.22738774842626794,
+              0.3039737994014635,
+              1.237390108349622
+            ],
+            "held_grasp_finger_b": [
+              0.21681510905205265,
+              0.3295133461578095,
+              1.237390108349622
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+            "held_grasp_midpoint": [
+              0.22210142873916028,
+              0.3167435727796365,
+              1.237390108349622
+            ],
+            "held_grasp_object_position": [
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+              0.3295133461578095,
+              1.237390108349622
+            ],
+            "held_grasp_finger_gap": 0.027641439033754895,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024869190741933916,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.058845898035863486,
+              -0.9981127481906062,
+              0.017552839763084638
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004531392680588174,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03214347313625879,
+            "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": [
+              0.26398113768967213,
+              -0.38291764285134977,
+              0.8470196269557156
+            ],
+            "target_position": [
+              0.25715389902101515,
+              -0.3851166641902857,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007172648233944038,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1848387499422677,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196269557156,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552450588160992,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08527955813929262,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1533809489603864,
+            "release_required_pad_clearance": 0.052639779069646314,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3380397323323518,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "494158df414f9cf1a8696480e1613a57cfbccac4af47da52bbab4186a47b460f",
+    "visual_seed": 896671059476401725,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_69_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2642820df086409ca1e1a792618c62b50e300f74
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_69_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              0.3212022802368471,
+              1.046936525726874
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+            "gripper_z": 1.0490807744059565,
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+              0.21944658923826516,
+              0.31621896104849295,
+              1.0490807744059565
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+              0.005150871119846467,
+              0.004983319188354152,
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+            "object_to_gripper_z": -0.002144248679082583,
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+              0.29676064775409766,
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+            "finger_b": [
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+              1.046936525726874
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+            "finger_midpoint": [
+              0.2185482116610691,
+              0.3089814639954724,
+              1.046936525726874
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+            "fingertip_z_skew_max": 0.035,
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+            "object_projection_between_fingers": 0.803199615213171,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0481828112458455,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.32032768261266514,
+              1.239035710015297
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+              0.324882045063094,
+              1.236817831307075
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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": 0.007480971374534832,
+            "max_held_gripper_dist": 0.0074838764644562916,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022178787082220985,
+            "max_held_gripper_z_dist": 0.002333475167151766,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08731287973639523,
+            "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": [
+              0.22964778442017755,
+              0.2994115646934446,
+              1.236817831307075
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+              0.21945659940679105,
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+            "held_grasp_midpoint": [
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+              0.3121468048782693,
+              1.236817831307075
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+            "held_grasp_object_position": [
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+              0.324882045063094,
+              1.236817831307075
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+            "held_grasp_finger_gap": 0.027433658564576625,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024641880253814485,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07411243334068107,
+              -0.9971218997520324,
+              0.015976991557271614
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0041428877817039625,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032123991318936375,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2624901992240667,
+              -0.3821827753940466,
+              0.8470191968221791
+            ],
+            "target_position": [
+              0.2561906240584087,
+              -0.3839495723296411,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006542646152697012,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18604147445495334,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470191968221791,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521214922650324,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08616815237295268,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15505577165466713,
+            "release_required_pad_clearance": 0.05308407618647634,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.193520023495333,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b345a1674eb1fafd79f6200f26269f7ac0f864c1130ea85bfb1a507aa11408db",
+    "visual_seed": 4630025921574115260,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_6_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d9d8aa3b2ffab50d8ceeef279f134034f0b3d35
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_6_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.22847569942861923,
+              0.31967927494915427,
+              1.0475820360945207
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+            "lift_margin": 0.19099552868595515,
+            "gripper_z": 1.0496620278397333,
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+            "gripper_position": [
+              0.2229472839423121,
+              0.3145995803184582,
+              1.0496620278397333
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+              0.005079694630696074,
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+            "object_to_gripper_xy": 0.007507774326014525,
+            "object_to_gripper_z": -0.0020799917452125616,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.22847569942861923,
+              0.2948212679433016,
+              1.0475820360945207
+            ],
+            "finger_b": [
+              0.2164298066482816,
+              0.31967927494915427,
+              1.0475820360945207
+            ],
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+              0.2224527530384504,
+              0.30725027144622796,
+              1.0475820360945207
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+              0.006022946390168815,
+              0.012429003502926306,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "fingertip_min_top_clearance": 0.013732724457462153,
+            "object_projection_between_fingers": 0.8098309826639053,
+            "object_to_finger_line_xy": 0.010840172351788576,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04832355614666062,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6250297772816336,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/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": [
+              0.2277292799312555,
+              0.3188988412515904,
+              1.2405335725133044
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+            "held_position": [
+              0.2335533138824153,
+              0.3236090972123724,
+              1.2383916546884801
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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": 0.007790615806766787,
+            "max_held_gripper_dist": 0.007793384291022097,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002141917824824313,
+            "max_held_gripper_z_dist": 0.0022620506944566188,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08743584359856021,
+            "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": [
+              0.2335533138824153,
+              0.2979699405571429,
+              1.2383916546884801
+            ],
+            "held_grasp_finger_b": [
+              0.22302705659274405,
+              0.3236090972123724,
+              1.2383916546884801
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+            "held_grasp_midpoint": [
+              0.22829018523757966,
+              0.31078951888475764,
+              1.2383916546884801
+            ],
+            "held_grasp_object_position": [
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+              0.3236090972123724,
+              1.2383916546884801
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+            "held_grasp_finger_gap": 0.027715851899585513,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025048646377805888,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.052540466520568,
+              -0.998539116975942,
+              0.01261472340986347
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004585226846076241,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032122847308192974,
+            "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": [
+              0.262813448885715,
+              -0.38157657404384276,
+              0.8470192138593433
+            ],
+            "target_position": [
+              0.2552369025398849,
+              -0.38416051138381513,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00800504757683644,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18704543112253205,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192138593433,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758986980036846,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08655700128625717,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15451592248589824,
+            "release_required_pad_clearance": 0.053278500643128585,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5751636564278326,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "95da6f21e04f32e1f385b7627075c20a48c49827c32b644c972827286e8bfce0",
+    "visual_seed": 3098532407014788864,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_70_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..abfda575c2339d2ee2bf1a10bc763da69037540d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_70_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22824706689167623,
+              0.32004210141953376,
+              1.0489239424855183
+            ],
+            "current_z": 1.0489239424855183,
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+            "lift_margin": 0.192337435076953,
+            "gripper_z": 1.051127171119812,
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+            "gripper_position": [
+              0.22272731010545735,
+              0.31505326869513356,
+              1.051127171119812
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+            "object_minus_gripper": [
+              0.005519756786218882,
+              0.004988832724400205,
+              -0.0022032286342936747
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+            "object_to_gripper_z": -0.0022032286342936747,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.22824706689167623,
+              0.29507198882911934,
+              1.0489239424855183
+            ],
+            "finger_b": [
+              0.21648828053077607,
+              0.32004210141953376,
+              1.0489239424855183
+            ],
+            "finger_midpoint": [
+              0.22236767371122615,
+              0.3075570451243266,
+              1.0489239424855183
+            ],
+            "object_minus_finger_midpoint": [
+              0.005879393180450082,
+              0.012485056295207186,
+              0.0
+            ],
+            "finger_gap": 0.02760028223513783,
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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": 1.0953437181563273,
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+            "object_projection_between_fingers": 0.8184910879140548,
+            "object_to_finger_line_xy": 0.010638232495481586,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049093830878867095,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1514834289603741,
+            "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": [
+                {
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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": [
+              0.2274365765366476,
+              0.3193939460886883,
+              1.2412070866346976
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+            "held_position": [
+              0.2331870152591226,
+              0.3240823992060005,
+              1.2389347197889748
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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": 0.007759690020594542,
+            "max_held_gripper_dist": 0.007762114226849432,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022723668457227397,
+            "max_held_gripper_z_dist": 0.0023932928777532503,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08729182571152744,
+            "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": [
+              0.2331870152591226,
+              0.29850684221754936,
+              1.2389347197889748
+            ],
+            "held_grasp_finger_b": [
+              0.22269659092008123,
+              0.3240823992060005,
+              1.2389347197889748
+            ],
+            "held_grasp_midpoint": [
+              0.22794180308960194,
+              0.31129462071177494,
+              1.2389347197889748
+            ],
+            "held_grasp_object_position": [
+              0.2331870152591226,
+              0.3240823992060005,
+              1.2389347197889748
+            ],
+            "held_grasp_finger_gap": 0.027643410029926922,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025192118869705137,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.034606116712408284,
+              -0.9992021573678463,
+              0.01993653424065467
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0048063974760972185,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03224113268191865,
+            "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": [
+              0.26044302298191924,
+              -0.38643919372732616,
+              0.847019404841543
+            ],
+            "target_position": [
+              0.2553828974734903,
+              -0.3876029873449378,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005192233213699749,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18421740892912214,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019404841543,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536981685514305,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08618179138952652,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1528942122560424,
+            "release_required_pad_clearance": 0.05309089569476326,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2091581138311502,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "509cd883768740b220d834afdfa59e79a8a239047ec803b51bb08967103e4315",
+    "visual_seed": 5423405661726756776,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_71_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..07519917fc3e1803b812bab702f3aa4f731c86d5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_71_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 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": [
+              0.2273308840332403,
+              0.3259492311442327,
+              1.0484038650986582
+            ],
+            "current_z": 1.0484038650986582,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.1918172980854479,
+            "gripper_z": 1.0503483246764656,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2220807842242502,
+              0.32095008964515515,
+              1.0503483246764656
+            ],
+            "object_minus_gripper": [
+              0.005250099808990105,
+              0.004999141499077542,
+              -0.0019444595778073115
+            ],
+            "object_to_gripper_xy": 0.007249480238758996,
+            "object_to_gripper_z": -0.0019444595778073115,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2273308840332403,
+              0.30145480058601265,
+              1.0484038650986582
+            ],
+            "finger_b": [
+              0.21518136954785633,
+              0.3259492311442327,
+              1.0484038650986582
+            ],
+            "finger_midpoint": [
+              0.22125612679054832,
+              0.3137020158651227,
+              1.0484038650986582
+            ],
+            "object_minus_finger_midpoint": [
+              0.006074757242691992,
+              0.01224721527910999,
+              0.0
+            ],
+            "finger_gap": 0.02734205242117019,
+            "fingertip_max_gap": 0.09094811094973376,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013671026210585071,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484038650986582,
+            "object_top_z": 1.0940447438938186,
+            "finger_top_clearance": 0.04564087879516032,
+            "fingertip_min_top_clearance": 0.013692263638548096,
+            "object_projection_between_fingers": 0.8025506887776824,
+            "object_to_finger_line_xy": 0.010884166056528598,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047974055474866883,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3362017068625538,
+            "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",
+        "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": [
+              0.22697795992151476,
+              0.3251436520980104,
+              1.2407357495285682
+            ],
+            "held_position": [
+              0.23258979832611898,
+              0.3297074125561121,
+              1.2387333913291625
+            ],
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007505336645151293,
+            "max_held_gripper_dist": 0.007508451330114398,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0020023581994057515,
+            "max_held_gripper_z_dist": 0.002124727599818632,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08739545569352863,
+            "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": [
+              0.23258979832611898,
+              0.30417934767168986,
+              1.2387333913291625
+            ],
+            "held_grasp_finger_b": [
+              0.2223185736204809,
+              0.3297074125561121,
+              1.2387333913291625
+            ],
+            "held_grasp_midpoint": [
+              0.22745418597329994,
+              0.316943380113901,
+              1.2387333913291625
+            ],
+            "held_grasp_object_position": [
+              0.23258979832611898,
+              0.3297074125561121,
+              1.2387333913291625
+            ],
+            "held_grasp_finger_gap": 0.02751690668837943,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02469631933058042,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07399302146396573,
+              -0.9971895008861369,
+              0.011752961205173214
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004179858387298859,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032092066350415074,
+            "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": [
+              0.26576210157226265,
+              -0.3782569849834013,
+              0.8470193376342647
+            ],
+            "target_position": [
+              0.2581553011967842,
+              -0.3807833947177413,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008015370116104866,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18567528892905122,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193376342647,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537833502393261,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0859925732140024,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15456446325186143,
+            "release_required_pad_clearance": 0.0529962866070012,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0256371465255514,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2a4e8b744b49be82ee6b4947859a40a2c3f53d3764611ea493554728180de468",
+    "visual_seed": 2337488373441973291,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_72_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e96685cbbf3f83d835af579cd70398a164edc8b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_72_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2287364350469221,
+              0.3232615251347002,
+              1.0453267030700972
+            ],
+            "current_z": 1.0453267030700972,
+            "required_z": 0.8565866862224999,
+            "initial_z": 0.7565866862224999,
+            "lift_margin": 0.18874001684759734,
+            "gripper_z": 1.0472101697116794,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2233278641061011,
+              0.31832699397288267,
+              1.0472101697116794
+            ],
+            "object_minus_gripper": [
+              0.005408570940821006,
+              0.004934531161817524,
+              -0.001883466641582121
+            ],
+            "object_to_gripper_xy": 0.007321354888874164,
+            "object_to_gripper_z": -0.001883466641582121,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2287364350469221,
+              0.29836335285177024,
+              1.0453267030700972
+            ],
+            "finger_b": [
+              0.21706395591034014,
+              0.3232615251347002,
+              1.0453267030700972
+            ],
+            "finger_midpoint": [
+              0.2229001954786311,
+              0.3108124389932352,
+              1.0453267030700972
+            ],
+            "object_minus_finger_midpoint": [
+              0.005836239568290991,
+              0.012449086141465004,
+              0.0
+            ],
+            "finger_gap": 0.027498468179598702,
+            "fingertip_max_gap": 0.09368422706509494,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013749234089799382,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0453267030700972,
+            "object_top_z": 1.0920201701382117,
+            "finger_top_clearance": 0.0466934670681145,
+            "fingertip_min_top_clearance": 0.014008040120434367,
+            "object_projection_between_fingers": 0.8198189103471749,
+            "object_to_finger_line_xy": 0.010568712213836646,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04934211353254747,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2730535747063163,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": [
+              0.22797725525473758,
+              0.32250584245096114,
+              1.2371578483064045
+            ],
+            "held_position": [
+              0.23362775866045177,
+              0.327133092072905,
+              1.2352077598575368
+            ],
+            "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": 0.007559264035617097,
+            "max_held_gripper_dist": 0.0075616577767211625,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0019500884488676817,
+            "max_held_gripper_z_dist": 0.0020719301750631303,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08789101205642647,
+            "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": [
+              0.23362775866045177,
+              0.30158372372348036,
+              1.2352077598575368
+            ],
+            "held_grasp_finger_b": [
+              0.22328267687462552,
+              0.327133092072905,
+              1.2352077598575368
+            ],
+            "held_grasp_midpoint": [
+              0.22845521776753863,
+              0.3143584078981927,
+              1.2352077598575368
+            ],
+            "held_grasp_object_position": [
+              0.23362775866045177,
+              0.327133092072905,
+              1.2352077598575368
+            ],
+            "held_grasp_finger_gap": 0.027564305545578587,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025139290790628238,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0372572591831395,
+              -0.9990352730019006,
+              0.023246933909193083
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004702528285106471,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03224515017713135,
+            "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": [
+              0.2561591556324446,
+              -0.38764993824071775,
+              0.8470185716314755
+            ],
+            "target_position": [
+              0.2506552434404055,
+              -0.3889470852927067,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005654700689882745,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18577506293077087,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470185716314755,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517436201745822,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0856335073024251,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15492525194833565,
+            "release_required_pad_clearance": 0.05281675365121255,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6737538679166324,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "76ad0c6accdde3f4843a697a4be041e8f6d12a0767979298b6cdf0a9e0cfecc3",
+    "visual_seed": 3654102646388276293,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_73_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9efceac9e0d90f8f918c20cccc8cd4c4302bbe99
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_73_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22684032000834126,
+              0.32081205686115777,
+              1.0473948266537676
+            ],
+            "current_z": 1.0473948266537676,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19080825964055725,
+            "gripper_z": 1.0498031275022224,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22136178385751015,
+              0.3156475100131464,
+              1.0498031275022224
+            ],
+            "object_minus_gripper": [
+              0.005478536150831104,
+              0.005164546848011375,
+              -0.0024083008484547808
+            ],
+            "object_to_gripper_xy": 0.00752907049384368,
+            "object_to_gripper_z": -0.0024083008484547808,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22684032000834126,
+              0.29615131496585423,
+              1.0473948266537676
+            ],
+            "finger_b": [
+              0.21447118458280476,
+              0.32081205686115777,
+              1.0473948266537676
+            ],
+            "finger_midpoint": [
+              0.220655752295573,
+              0.308481685913506,
+              1.0473948266537676
+            ],
+            "object_minus_finger_midpoint": [
+              0.006184567712768263,
+              0.01233037094765177,
+              0.0
+            ],
+            "finger_gap": 0.027588905415076567,
+            "fingertip_max_gap": 0.09010503578872059,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01379445270753829,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0473948266537676,
+            "object_top_z": 1.092609324948915,
+            "finger_top_clearance": 0.045214498295147454,
+            "fingertip_min_top_clearance": 0.013564349488544236,
+            "object_projection_between_fingers": 0.7989936634205963,
+            "object_to_finger_line_xy": 0.011056330492565297,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0475525178943603,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.14109435643813095,
+            "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",
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+              ],
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+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/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": [
+              0.22605274971243164,
+              0.3201591718151318,
+              1.2410983832340907
+            ],
+            "held_position": [
+              0.23188192733862847,
+              0.3248949530884496,
+              1.2386355336503854
+            ],
+            "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": 0.007903958763709425,
+            "max_held_gripper_dist": 0.007910185035549171,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002462849583705351,
+            "max_held_gripper_z_dist": 0.0025856123254339725,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08728296523748147,
+            "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": [
+              0.23188192733862847,
+              0.2992876334578882,
+              1.2386355336503854
+            ],
+            "held_grasp_finger_b": [
+              0.22125081120441625,
+              0.3248949530884496,
+              1.2386355336503854
+            ],
+            "held_grasp_midpoint": [
+              0.22656636927152235,
+              0.3120912932731689,
+              1.2386355336503854
+            ],
+            "held_grasp_object_position": [
+              0.23188192733862847,
+              0.3248949530884496,
+              1.2386355336503854
+            ],
+            "held_grasp_finger_gap": 0.02772643952837873,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02480054552971447,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06993894680828174,
+              -0.9975301969930459,
+              0.006484582204225651
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004407872011073911,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0320564231351302,
+            "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": [
+              0.2626066740711883,
+              -0.38402733560132857,
+              0.8470194509854521
+            ],
+            "target_position": [
+              0.2550067992194382,
+              -0.3867483273136355,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008072291722968576,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1864212196267442,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194509854521,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566148152587458,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08500716464816953,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15469630072687657,
+            "release_required_pad_clearance": 0.052503582324084766,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.07912917221120347,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "19b5f1b0eaffff0b47041be584abd2d97304950ad694323cc18711edb78ec119",
+    "visual_seed": 4146300472882636384,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_74_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed9d070aa91bf82bea9ae9010b0675ad659dc800
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_74_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.2306826918394856,
+              0.32212730042354554,
+              1.04643996723379
+            ],
+            "current_z": 1.04643996723379,
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+            "lift_margin": 0.18985334061593495,
+            "gripper_z": 1.048568481265006,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22498764670532867,
+              0.3170278102410861,
+              1.048568481265006
+            ],
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+              0.0056950451341569175,
+              0.005099490182459421,
+              -0.0021285140312159445
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+            "object_to_gripper_xy": 0.007644497315133573,
+            "object_to_gripper_z": -0.0021285140312159445,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2306826918394856,
+              0.2970132137540143,
+              1.04643996723379
+            ],
+            "finger_b": [
+              0.2187933881822253,
+              0.32212730042354554,
+              1.04643996723379
+            ],
+            "finger_midpoint": [
+              0.22473804001085546,
+              0.30957025708877994,
+              1.04643996723379
+            ],
+            "object_minus_finger_midpoint": [
+              0.005944651828630132,
+              0.012557043334765594,
+              0.0
+            ],
+            "finger_gap": 0.027786199644774558,
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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": 1.04643996723379,
+            "object_top_z": 1.0921555944831076,
+            "finger_top_clearance": 0.04571562724931755,
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+            "object_projection_between_fingers": 0.8169142536185715,
+            "object_to_finger_line_xy": 0.010745946056173315,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04845916310678533,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8154452987485353,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": [
+              0.2295934771770151,
+              0.3214452289247133,
+              1.2368591093552799
+            ],
+            "held_position": [
+              0.2355152691633174,
+              0.32625235161740784,
+              1.2346367309352353
+            ],
+            "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": 0.007944495877872493,
+            "max_held_gripper_dist": 0.007945587473622706,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022223784200445795,
+            "max_held_gripper_z_dist": 0.002348510755097122,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08774622179837605,
+            "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": [
+              0.2355152691633174,
+              0.30058238548379934,
+              1.2346367309352353
+            ],
+            "held_grasp_finger_b": [
+              0.22486606219814956,
+              0.32625235161740784,
+              1.2346367309352353
+            ],
+            "held_grasp_midpoint": [
+              0.23019066568073349,
+              0.3134173685506036,
+              1.2346367309352353
+            ],
+            "held_grasp_object_position": [
+              0.2355152691633174,
+              0.32625235161740784,
+              1.2346367309352353
+            ],
+            "held_grasp_finger_gap": 0.027791235494083136,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025290125198419153,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.034116303108049896,
+              -0.999356081639559,
+              0.011113053237827297
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004885733719300323,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032191850793917176,
+            "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": [
+              0.2597204581835959,
+              -0.380684285891009,
+              0.8470197669529179
+            ],
+            "target_position": [
+              0.25285585762264834,
+              -0.3829154108746024,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007218078660819392,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18417176346922456,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197669529179,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522663298438913,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0863426314209015,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15342982389374868,
+            "release_required_pad_clearance": 0.05317131571045075,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3659926281861465,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e1091606bb9d7c95652b808b1db2e547aecf4ae3cce861f2da39e953970da478",
+    "visual_seed": 687528677777388932,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_75_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e793d3cea5d92605996a41ef5c485b54907c516
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_75_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 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": [
+              0.2228540726398198,
+              0.3253034007113639,
+              1.0478070399158474
+            ],
+            "current_z": 1.0478070399158474,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.19122041329799233,
+            "gripper_z": 1.0499562404847909,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2177663017314926,
+              0.32043708991536124,
+              1.0499562404847909
+            ],
+            "object_minus_gripper": [
+              0.005087770908327183,
+              0.0048663107960026375,
+              -0.00214920056894341
+            ],
+            "object_to_gripper_xy": 0.00704034044481602,
+            "object_to_gripper_z": -0.00214920056894341,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2228540726398198,
+              0.3008670415987907,
+              1.0478070399158474
+            ],
+            "finger_b": [
+              0.21097199354674925,
+              0.3253034007113639,
+              1.0478070399158474
+            ],
+            "finger_midpoint": [
+              0.21691303309328452,
+              0.3130852211550773,
+              1.0478070399158474
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059410395465352706,
+              0.012218179556286568,
+              0.0
+            ],
+            "finger_gap": 0.0271720343414442,
+            "fingertip_max_gap": 0.09115882185687227,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013586017170722074,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0478070399158474,
+            "object_top_z": 1.0935214960868451,
+            "finger_top_clearance": 0.045714456170997675,
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+            "object_projection_between_fingers": 0.8087768058586609,
+            "object_to_finger_line_xy": 0.010685793638918138,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048079410928436137,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4034828566730871,
+            "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": [
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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": "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": [
+              0.22243732463321747,
+              0.3247088287548543,
+              1.2380809267742596
+            ],
+            "held_position": [
+              0.2278355687729953,
+              0.32918452521376906,
+              1.2358424888412882
+            ],
+            "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": 0.0073609444342932736,
+            "max_held_gripper_dist": 0.0073641034441217544,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022384379329714044,
+            "max_held_gripper_z_dist": 0.002355136656260859,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08763892218189345,
+            "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": [
+              0.2278355687729953,
+              0.3038210154330067,
+              1.2358424888412882
+            ],
+            "held_grasp_finger_b": [
+              0.217762540043719,
+              0.32918452521376906,
+              1.2358424888412882
+            ],
+            "held_grasp_midpoint": [
+              0.22279905440835715,
+              0.3165027703233879,
+              1.2358424888412882
+            ],
+            "held_grasp_object_position": [
+              0.2278355687729953,
+              0.32918452521376906,
+              1.2358424888412882
+            ],
+            "held_grasp_finger_gap": 0.027290539316394115,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024638029789913685,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06624183187832866,
+              -0.9977044141066577,
+              0.014068467631357273
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0041892905746613385,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03221395419526364,
+            "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": [
+              0.2608974078295254,
+              -0.38334593495092706,
+              0.8470194539744224
+            ],
+            "target_position": [
+              0.25390372731289074,
+              -0.3856832553341999,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007373915767271702,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1854391879868547,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194539744224,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568717388817112,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852900687311857,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15344123339401342,
+            "release_required_pad_clearance": 0.052645034365592855,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3494259440970786,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a033ff30c590ca5be0bb1a2d589726b86558f9f4e833651d7008e3db609973ae",
+    "visual_seed": 3027965953067097182,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_76_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b88be53820763358992b6526d725d348ea59423
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_76_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22951969234358688,
+              0.3216045593366117,
+              1.0471843236385168
+            ],
+            "current_z": 1.0471843236385168,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19059775662530642,
+            "gripper_z": 1.0490888254803679,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22428626622997425,
+              0.3165600248891659,
+              1.0490888254803679
+            ],
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+              0.0052334261136126325,
+              0.005044534447445792,
+              -0.0019045018418510917
+            ],
+            "object_to_gripper_xy": 0.0072688428706438445,
+            "object_to_gripper_z": -0.0019045018418510917,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22951969234358688,
+              0.2971250581302179,
+              1.0471843236385168
+            ],
+            "finger_b": [
+              0.21731232895270175,
+              0.3216045593366117,
+              1.0471843236385168
+            ],
+            "finger_midpoint": [
+              0.22341601064814431,
+              0.30936480873341476,
+              1.0471843236385168
+            ],
+            "object_minus_finger_midpoint": [
+              0.006103681695442564,
+              0.01223975060319693,
+              0.0
+            ],
+            "finger_gap": 0.027354445713100424,
+            "fingertip_max_gap": 0.09147630481439484,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013677222856550238,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0471843236385168,
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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",
+                "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"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+                "link0",
+                "table",
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+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/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": [
+              0.22895287951355384,
+              0.32094742085455125,
+              1.2369290692275814
+            ],
+            "held_position": [
+              0.2345307518097018,
+              0.32556553687572826,
+              1.234928264200274
+            ],
+            "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": 0.007512847375961094,
+            "max_held_gripper_dist": 0.007514592504548688,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002000805027307484,
+            "max_held_gripper_z_dist": 0.002120007516162037,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08758551276734255,
+            "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": [
+              0.2345307518097018,
+              0.30009463738545045,
+              1.234928264200274
+            ],
+            "held_grasp_finger_b": [
+              0.2242331762754549,
+              0.32556553687572826,
+              1.234928264200274
+            ],
+            "held_grasp_midpoint": [
+              0.22938196404257832,
+              0.31283008713058935,
+              1.234928264200274
+            ],
+            "held_grasp_object_position": [
+              0.2345307518097018,
+              0.32556553687572826,
+              1.234928264200274
+            ],
+            "held_grasp_finger_gap": 0.027473747154826818,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024636916877951987,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07386668143096028,
+              -0.9971208366294897,
+              0.01713915207014249
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004199842552199955,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032121118795335316,
+            "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": [
+              0.25895937184258955,
+              -0.37950232223587493,
+              0.8470190123304597
+            ],
+            "target_position": [
+              0.25293518787649505,
+              -0.3812700056934545,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006278176268913643,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18707380107000104,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470190123304597,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554226501151598,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08599312140195171,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15533721112041496,
+            "release_required_pad_clearance": 0.05299656070097586,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.024108440562099,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f5dc35864a1142eb217d6110d64212a15907f9b260dbed19d0817d60f11d2454",
+    "visual_seed": 3595229324280676567,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_77_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1e90112540c02deb59fe3c36e58c52035c282f8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_77_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22562897845844027,
+              0.324792104720727,
+              1.0463256222277952
+            ],
+            "current_z": 1.0463256222277952,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18973911481922967,
+            "gripper_z": 1.0483843348725395,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22043342401330068,
+              0.3198782627589781,
+              1.0483843348725395
+            ],
+            "object_minus_gripper": [
+              0.005195554445139583,
+              0.004913841961748877,
+              -0.0020587126447442206
+            ],
+            "object_to_gripper_xy": 0.007151197719085505,
+            "object_to_gripper_z": -0.0020587126447442206,
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+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
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+                "joint6",
+                "joint7",
+                "left_inner_finger",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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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": "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": [
+              0.22507741287778918,
+              0.32442689687470766,
+              1.2388583999340623
+            ],
+            "held_position": [
+              0.23056353711909133,
+              0.3289869208121066,
+              1.2367412328884895
+            ],
+            "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": 0.007441355642590558,
+            "max_held_gripper_dist": 0.007445707477261656,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002117167045572854,
+            "max_held_gripper_z_dist": 0.0022354337713854644,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08718555010285461,
+            "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": [
+              0.23056353711909133,
+              0.30355636269356345,
+              1.2367412328884895
+            ],
+            "held_grasp_finger_b": [
+              0.2202831274846383,
+              0.3289869208121066,
+              1.2367412328884895
+            ],
+            "held_grasp_midpoint": [
+              0.22542333230186481,
+              0.31627164175283506,
+              1.2367412328884895
+            ],
+            "held_grasp_object_position": [
+              0.23056353711909133,
+              0.3289869208121066,
+              1.2367412328884895
+            ],
+            "held_grasp_finger_gap": 0.027429912658861248,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02481110882193265,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.055906893529876815,
+              -0.9982421333607682,
+              0.019673902489886652
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00442852508305787,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03221992478796756,
+            "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": [
+              0.2561842794304063,
+              -0.3863361254680515,
+              0.8470195490855319
+            ],
+            "target_position": [
+              0.25007202281017643,
+              -0.38823021036206395,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0063990029361823035,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18470919783220813,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195490855319,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579020753771581,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08611795213001879,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15253282660010312,
+            "release_required_pad_clearance": 0.053058976065009394,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1473805279367506,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5eb1da839075f73f486e8f5dd5d4b2ec1a48b5bedafcaa2587b186e85504a82f",
+    "visual_seed": 3929645143298512943,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_78_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c1409ca6e4abed88f9962b4a8df70ad33f873f3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_78_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_79_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..95acde31a7c520e9ecb74e2fec78413f6a1c6248
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_79_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              1.0453389219696494
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+              0.32032455673737803,
+              1.0475986020026171
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+              0.005015665617693343,
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+            "object_to_gripper_z": -0.002259680032967726,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.30029946712148975,
+              1.0453389219696494
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+              1.0453389219696494
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+              0.31281984473828056,
+              1.0453389219696494
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+              0.012520377616790812,
+              0.0
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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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+            },
+            "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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+              0.32527109127780357,
+              1.2384976036805422
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+              0.3300462886346346,
+              1.2361879460384395
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007911293433482762,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023096576421026693,
+            "max_held_gripper_z_dist": 0.0024378719612510036,
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+            "held_grasp_geometry_required": true,
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+              0.30454292440806846,
+              1.2361879460384395
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+              0.31729460652135155,
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+              0.3300462886346346,
+              1.2361879460384395
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025337173569072856,
+            "held_grasp_world_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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+              -0.9997630685183979,
+              0.01604481434945104
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005259524882571179,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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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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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
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+          "metrics": {
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15499219089679123,
+            "release_required_pad_clearance": 0.05332640411385817,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.670188046675093,
+            "object_max_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",
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+                "wheel",
+                "workbench"
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+            },
+            "status": "active",
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+            "forbidden": [],
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+            "failed_keys": []
+          }
+        },
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+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8e6817b05e12e7b832d23b3452324f9a069400807c3eabdd7d23d9297d451f38",
+    "visual_seed": 7316575942696788632,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_7_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dd144dc0bd320f6ca1cc959831aaf5b6f73d8a2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_7_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.32339240357576143,
+              1.0471601757861384
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+            "gripper_position": [
+              0.22131975256915776,
+              0.3184228143988233,
+              1.0492541276015894
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+              0.004969589176938127,
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+            "object_to_gripper_z": -0.002093951815451023,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.29846573579777824,
+              1.0471601757861384
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+              0.32339240357576143,
+              1.0471601757861384
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+              0.3109290696867698,
+              1.0471601757861384
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 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": {
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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": []
+            },
+            "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_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2259906024007436,
+              0.3226484537810043,
+              1.2395164479067642
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+            "held_position": [
+              0.23176293217164845,
+              0.3273056127175524,
+              1.2373588561120088
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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": 0.007724255478500161,
+            "max_held_gripper_dist": 0.007726589515301709,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002157591794755387,
+            "max_held_gripper_z_dist": 0.002281869653762758,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08784747036272722,
+            "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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+              0.23176293217164845,
+              0.3017370563909885,
+              1.2373588561120088
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+              0.3273056127175524,
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+              0.22651703618095098,
+              0.31452133455427045,
+              1.2373588561120088
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+            "held_grasp_object_position": [
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+              0.3273056127175524,
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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": 0.02513826215622595,
+            "held_grasp_world_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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+              -0.9992035900441305,
+              0.008099109996112299
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004743536383671593,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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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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+        "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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+            "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": 0.08627621201164591,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15482021851247704,
+            "release_required_pad_clearance": 0.05313810600582296,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3002346624286656,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "52927388bb0531a7bbebae0ccf6ebf2389c9bd96f9b2739d60a8845f0c963d2c",
+    "visual_seed": 6956742908074690981,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_80_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc70272022ca628873aadb03358b01623a0aa5bd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_80_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.3265329410723933,
+              1.047662858120928
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+            "current_z": 1.047662858120928,
+            "required_z": 0.8565865670132105,
+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.1910762911077175,
+            "gripper_z": 1.049532153914307,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2251876394879898,
+              0.3214562410693702,
+              1.049532153914307
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+              0.005295724762044096,
+              0.005076700003023071,
+              -0.0018692957933790222
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+            "object_to_gripper_z": -0.0018692957933790222,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2304833642500339,
+              0.3020116779620245,
+              1.047662858120928
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+            "finger_b": [
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+              0.3265329410723933,
+              1.047662858120928
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+            "finger_midpoint": [
+              0.22435295467405902,
+              0.31427230951720886,
+              1.047662858120928
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+              0.006130409575974882,
+              0.01226063155518442,
+              0.0
+            ],
+            "finger_gap": 0.02741568950080868,
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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": 1.0937322963206293,
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+            "object_projection_between_fingers": 0.7999951037549332,
+            "object_to_finger_line_xy": 0.010966376474490667,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04832155738182674,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6011686113292775,
+            "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": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23003260201066952,
+              0.3256215629728598,
+              1.2408982026083184
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+            "held_position": [
+              0.23570003965001912,
+              0.330254681528748,
+              1.238973423392383
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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": 0.00756904300284577,
+            "max_held_gripper_dist": 0.007571997572984459,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0019247792159353683,
+            "max_held_gripper_z_dist": 0.0020510366148176473,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08786111604389724,
+            "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": [
+              0.23570003965001912,
+              0.30468485294326925,
+              1.238973423392383
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+              0.330254681528748,
+              1.238973423392383
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+            "held_grasp_midpoint": [
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+              0.3174697672360086,
+              1.238973423392383
+            ],
+            "held_grasp_object_position": [
+              0.23570003965001912,
+              0.330254681528748,
+              1.238973423392383
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+            "held_grasp_finger_gap": 0.027594943665266478,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024706947842221803,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07572295782871488,
+              -0.9969821109923733,
+              0.017108594882736305
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004210935048925505,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032061037206057956,
+            "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"
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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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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "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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+            "gripper_away_threshold": 0.04,
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+            "object_z": 0.8470196299307351,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
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+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535930122454816,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08611073324544115,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15344222572665273,
+            "release_required_pad_clearance": 0.053055366622720576,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1405385704370228,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4b9e54ef934c812f2ec68f94c461d5e1b818893a4e5dc55c273515982c58bc72",
+    "visual_seed": 7373497767705595589,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_81_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..470f672dede1e96fbeb47d30b20fd463bb999d0f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_81_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.3217216574621696,
+              1.0464926743375718
+            ],
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+            "lift_margin": 0.18990604771971653,
+            "gripper_z": 1.0485631437169873,
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+            "gripper_position": [
+              0.22219749948491127,
+              0.3166579732285133,
+              1.0485631437169873
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+              0.005228306144941214,
+              0.005063684233656274,
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+            "object_to_gripper_xy": 0.007278467088845644,
+            "object_to_gripper_z": -0.0020704693794155737,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.22742580562985248,
+              0.2973242746951583,
+              1.0464926743375718
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+            "finger_b": [
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+              0.3217216574621696,
+              1.0464926743375718
+            ],
+            "finger_midpoint": [
+              0.221255077672099,
+              0.3095229660786639,
+              1.0464926743375718
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+              0.012198691383505655,
+              0.0
+            ],
+            "finger_gap": 0.027341247593964325,
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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": 1.0924652722348385,
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+            "object_to_finger_line_xy": 0.011012636597434856,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048291995407687624,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5383802169462493,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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_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": [
+              0.22698603261105949,
+              0.32089041194154155,
+              1.2381068105105413
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+            "held_position": [
+              0.23260525038604196,
+              0.3254808515398713,
+              1.2359601521307724
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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": 0.007566761943395907,
+            "max_held_gripper_dist": 0.007570440411190668,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0021466583797689065,
+            "max_held_gripper_z_dist": 0.002266144277133453,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08738138603371381,
+            "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": [
+              0.23260525038604196,
+              0.2999604586541679,
+              1.2359601521307724
+            ],
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+              0.22232532672275357,
+              0.3254808515398713,
+              1.2359601521307724
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+            "held_grasp_midpoint": [
+              0.22746528855439777,
+              0.31272065509701963,
+              1.2359601521307724
+            ],
+            "held_grasp_object_position": [
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+              0.3254808515398713,
+              1.2359601521307724
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+            "held_grasp_finger_gap": 0.02751303842841962,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024612651569315077,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0799992479544389,
+              -0.9966554137830702,
+              0.016676525526055804
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004108374801572591,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032071513019061124,
+            "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,
+              "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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+        "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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+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019656559147,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
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+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566505005519952,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08521762699598441,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15287995264468246,
+            "release_required_pad_clearance": 0.05260881349799221,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2797644929818983,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "633c5de6e8266f9f74c0986e77c6d37c6b27a07618780e0f69177f293a762c02",
+    "visual_seed": 4720384346963891664,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_82_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5fb3fd9d2e057bdd0f5a98255610661d4cb85ca
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_82_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+            "object_position": [
+              0.2274483574368361,
+              0.3185252013419098,
+              1.04571858177191
+            ],
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+            "lift_margin": 0.1891319551540548,
+            "gripper_z": 1.047886502219799,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.2218856044470042,
+              0.31343428026556125,
+              1.047886502219799
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+              0.005562752989831915,
+              0.005090921076348565,
+              -0.002167920447889049
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+            "object_to_gripper_z": -0.002167920447889049,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2274483574368361,
+              0.2937103720535912,
+              1.04571858177191
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+            "finger_b": [
+              0.21529436427881868,
+              0.3185252013419098,
+              1.04571858177191
+            ],
+            "finger_midpoint": [
+              0.22137136085782738,
+              0.30611778669775047,
+              1.04571858177191
+            ],
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+              0.006076996579008731,
+              0.012407414644159342,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_top_z": 1.0912894009860346,
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+            "object_projection_between_fingers": 0.8065219926810461,
+            "object_to_finger_line_xy": 0.010915084313462787,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04809848780032289,
+            "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": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22663086874643612,
+              0.31769432693645333,
+              1.2371969843198605
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+            "held_position": [
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+              0.32239173783520036,
+              1.234943435927802
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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": 0.007846157793316781,
+            "max_held_gripper_dist": 0.00784751064630277,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002253548392058491,
+            "max_held_gripper_z_dist": 0.002374199939551458,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08754966285134275,
+            "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": [
+              0.2324975579840393,
+              0.29676515076800164,
+              1.234943435927802
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+              0.2219945409803767,
+              0.32239173783520036,
+              1.234943435927802
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+            "held_grasp_midpoint": [
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+              0.309578444301601,
+              1.234943435927802
+            ],
+            "held_grasp_object_position": [
+              0.2324975579840393,
+              0.32239173783520036,
+              1.234943435927802
+            ],
+            "held_grasp_finger_gap": 0.02769540270319142,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024979461291372056,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05742933392233038,
+              -0.9982851986877463,
+              0.011337269786173219
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004509378036144978,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032107313049429494,
+            "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"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "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,
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+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195635187987,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586249558247801,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08657045079641791,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15343963286296117,
+            "release_required_pad_clearance": 0.05328522539820896,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5895087567938482,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "72b1c37190d55931d7f9c49a610fe105f576e2aa5ce0e10fb49a63d8c5975187",
+    "visual_seed": 7720725418564684081,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_83_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..681926918a88388f70eb9d3868e9a367dc8be6c4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_83_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22563004813793117,
+              0.32262462738656483,
+              1.0458498620037666
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+            "current_z": 1.0458498620037666,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.18926335459520094,
+            "gripper_z": 1.0480775023358049,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22006075400147787,
+              0.31755041127757727,
+              1.0480775023358049
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+              0.0055692941364532955,
+              0.0050742161089875615,
+              -0.002227640332038261
+            ],
+            "object_to_gripper_xy": 0.007534235614781497,
+            "object_to_gripper_z": -0.002227640332038261,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22563004813793117,
+              0.2977773161956392,
+              1.0458498620037666
+            ],
+            "finger_b": [
+              0.21353486887467374,
+              0.32262462738656483,
+              1.0458498620037666
+            ],
+            "finger_midpoint": [
+              0.21958245850630245,
+              0.310200971791102,
+              1.0458498620037666
+            ],
+            "object_minus_finger_midpoint": [
+              0.006047589631628714,
+              0.012423655595462824,
+              0.0
+            ],
+            "finger_gap": 0.027634801154143147,
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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": 1.09124923038487,
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+            "fingertip_min_top_clearance": 0.01361981051433101,
+            "object_projection_between_fingers": 0.8084368671439845,
+            "object_to_finger_line_xy": 0.010875152724561231,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04808116758018109,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.764037813542655,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "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"
+                }
+              ],
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+              "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": [
+              0.2247681969930368,
+              0.321532274755604,
+              1.2358949337220917
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+            "held_position": [
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+              0.3262172563516258,
+              1.233563987019068
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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": 0.00785764815520087,
+            "max_held_gripper_dist": 0.007858611720120258,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023309467030236952,
+            "max_held_gripper_z_dist": 0.002455159423425224,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0877539540287931,
+            "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": [
+              0.2306299603321295,
+              0.3005847130012769,
+              1.233563987019068
+            ],
+            "held_grasp_finger_b": [
+              0.22020057826999528,
+              0.3262172563516258,
+              1.233563987019068
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+            "held_grasp_midpoint": [
+              0.2254152693010624,
+              0.3134009846764514,
+              1.233563987019068
+            ],
+            "held_grasp_object_position": [
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+              0.3262172563516258,
+              1.233563987019068
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+            "held_grasp_finger_gap": 0.02767307877352069,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02506591765454516,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05100084969007525,
+              -0.9986455363239654,
+              0.010295926918436836
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0045562148821183535,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03213535879162692,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26529350060940204,
+              -0.38311929636618325,
+              0.8470195604191333
+            ],
+            "target_position": [
+              0.2580736965810683,
+              -0.3854036736848655,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007572578817130511,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1864096789272797,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195604191333,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577183275934092,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08774866736056854,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15417406298275246,
+            "release_required_pad_clearance": 0.05387433368028427,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7582669579938783,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "76426cb4620ea5e23ae7e2b18baf67a2583c23ddceade66f59da0acb2a51adf4",
+    "visual_seed": 949295917271969161,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_84_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..38a7375b78727f26bd47f807c85f1f238fdd3c30
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_84_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2269327797655666,
+              0.3240628085446672,
+              1.0458233818160063
+            ],
+            "current_z": 1.0458233818160063,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.18923681480279597,
+            "gripper_z": 1.0477595829226165,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22171647874305445,
+              0.3191424391272933,
+              1.0477595829226165
+            ],
+            "object_minus_gripper": [
+              0.005216301022512165,
+              0.004920369417373893,
+              -0.0019362011066101914
+            ],
+            "object_to_gripper_xy": 0.007170762271954758,
+            "object_to_gripper_z": -0.0019362011066101914,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2269327797655666,
+              0.29952685041861754,
+              1.0458233818160063
+            ],
+            "finger_b": [
+              0.21498243717973434,
+              0.3240628085446672,
+              1.0458233818160063
+            ],
+            "finger_midpoint": [
+              0.22095760847265047,
+              0.3117948294816424,
+              1.0458233818160063
+            ],
+            "object_minus_finger_midpoint": [
+              0.005975171292916137,
+              0.012267979063024792,
+              0.0
+            ],
+            "finger_gap": 0.027291462567660563,
+            "fingertip_max_gap": 0.09001258873728782,
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+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013645731283830257,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0458233818160063,
+            "object_top_z": 1.0910566209781947,
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+            "fingertip_min_top_clearance": 0.013569971748656507,
+            "object_projection_between_fingers": 0.8082624868205187,
+            "object_to_finger_line_xy": 0.010743766646840553,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04750629436864391,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.08796801746350705,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": [
+              0.2263691583299838,
+              0.32330692314967735,
+              1.2366427344672966
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+            "held_position": [
+              0.23189667119440624,
+              0.3278397066708364,
+              1.234626797772274
+            ],
+            "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": 0.007427215203182474,
+            "max_held_gripper_dist": 0.007430436156528156,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0020159366950225355,
+            "max_held_gripper_z_dist": 0.0021356330589519246,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08774836273528841,
+            "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": [
+              0.23189667119440624,
+              0.30240539551489126,
+              1.234626797772274
+            ],
+            "held_grasp_finger_b": [
+              0.221684265027549,
+              0.3278397066708364,
+              1.234626797772274
+            ],
+            "held_grasp_midpoint": [
+              0.22679046811097764,
+              0.3151225510928638,
+              1.234626797772274
+            ],
+            "held_grasp_object_position": [
+              0.23189667119440624,
+              0.3278397066708364,
+              1.234626797772274
+            ],
+            "held_grasp_finger_gap": 0.02740798102185381,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024683859997944976,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06770579213323905,
+              -0.9976798227982314,
+              0.0071342058352857896
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004234459490887858,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03216685591772484,
+            "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": [
+              0.266075019599064,
+              -0.38336178434217105,
+              0.8470201999089446
+            ],
+            "target_position": [
+              0.2581441813220941,
+              -0.38601379963093274,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008362498482348229,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18574284593411028,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470201999089446,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529195165043609,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08588037078946197,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1548968965955166,
+            "release_required_pad_clearance": 0.052940185394730985,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9159905193250303,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aa089898c49658ccb70e50741ea64afcdbbeda7216742e36262601b1ed1e1836",
+    "visual_seed": 2004219292892307948,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_85_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..300fe093dd6f0b476dc736cd68a3893688cf88bb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_85_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.2308413747278486,
+              0.324351334889532,
+              1.0466341750845018
+            ],
+            "current_z": 1.0466341750845018,
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+            "lift_margin": 0.1900476080712915,
+            "gripper_z": 1.0485652078834022,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22521370081645675,
+              0.3192749073589506,
+              1.0485652078834022
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+              0.005627673911391851,
+              0.005076427530581407,
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+            "object_to_gripper_z": -0.0019310327989003895,
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+              0.2308413747278486,
+              0.29943040960980477,
+              1.0466341750845018
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+            "finger_b": [
+              0.21878466970843977,
+              0.324351334889532,
+              1.0466341750845018
+            ],
+            "finger_midpoint": [
+              0.2248130222181442,
+              0.3118908722496684,
+              1.0466341750845018
+            ],
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+              0.006028352509704404,
+              0.012460462639863612,
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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_top_z": 1.0920883848764338,
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+            "object_to_finger_line_xy": 0.010853263130286518,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04808113470542505,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6745144470768498,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/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": [
+              0.23004231285741633,
+              0.3235031295341995,
+              1.239681203479451
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+            "held_position": [
+              0.23595575159407528,
+              0.3282182315258905,
+              1.2376872860266024
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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": 0.007821550440484406,
+            "max_held_gripper_dist": 0.00782359058648029,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0019939174528487147,
+            "max_held_gripper_z_dist": 0.0021222339194060247,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0874396914141895,
+            "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": [
+              0.23595575159407528,
+              0.3025519309232141,
+              1.2376872860266024
+            ],
+            "held_grasp_finger_b": [
+              0.22537419593963687,
+              0.3282182315258905,
+              1.2376872860266024
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+            "held_grasp_midpoint": [
+              0.23066497376685607,
+              0.31538508122455233,
+              1.2376872860266024
+            ],
+            "held_grasp_object_position": [
+              0.23595575159407528,
+              0.3282182315258905,
+              1.2376872860266024
+            ],
+            "held_grasp_finger_gap": 0.027761993925057446,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025123912785332582,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04832728041236031,
+              -0.9987918005593068,
+              0.008911403000810723
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0046658342843948755,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032126890765833443,
+            "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": [
+              0.26522729611055207,
+              -0.3797474749745949,
+              0.8470194539418058
+            ],
+            "target_position": [
+              0.2571904857481873,
+              -0.3825191546580538,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008501325136019236,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1859267905033043,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194539418058,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539258436418354,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08594290805305886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15474367470609335,
+            "release_required_pad_clearance": 0.05297145402652943,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9779791614855132,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fd4b7a783854cfb74e6fca92c60f901a6f886168682e6acebf3136f7e2401474",
+    "visual_seed": 7393500323096530404,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_86_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbc8845951142a6c12979f30267bf7a1c259ed55
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_86_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.23014999157446495,
+              0.31982240317895755,
+              1.0470856609492767
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+            "gripper_z": 1.049331625059105,
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+            "gripper_position": [
+              0.22473487256528646,
+              0.314788470416632,
+              1.049331625059105
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+              0.005415119009178487,
+              0.005033932762325555,
+              -0.002245964109828247
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+            "object_to_gripper_z": -0.002245964109828247,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23014999157446495,
+              0.2951542195560938,
+              1.0470856609492767
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+            "finger_b": [
+              0.21802558227480923,
+              0.31982240317895755,
+              1.0470856609492767
+            ],
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+              0.2240877869246371,
+              0.30748831136752564,
+              1.0470856609492767
+            ],
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+              0.006062204649827846,
+              0.012334091811431913,
+              0.0
+            ],
+            "finger_gap": 0.027486734693609977,
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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": 0.8054304489434898,
+            "object_to_finger_line_xy": 0.010881145332704626,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0477652169289164,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3049381343363481,
+            "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": []
+          }
+        },
+        "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": [
+              0.22944257694010659,
+              0.31899627335764286,
+              1.2398399666743605
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+            "held_position": [
+              0.23517533404850252,
+              0.32363425832448284,
+              1.237530071431311
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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": 0.007727290899814752,
+            "max_held_gripper_dist": 0.007729868665605655,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023098952430493647,
+            "max_held_gripper_z_dist": 0.0024311131104071126,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08791178908140829,
+            "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": [
+              0.23517533404850252,
+              0.2980915023636103,
+              1.237530071431311
+            ],
+            "held_grasp_finger_b": [
+              0.22471241438801548,
+              0.32363425832448284,
+              1.237530071431311
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+            "held_grasp_midpoint": [
+              0.22994387421825901,
+              0.3108628803440466,
+              1.237530071431311
+            ],
+            "held_grasp_object_position": [
+              0.23517533404850252,
+              0.32363425832448284,
+              1.237530071431311
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+            "held_grasp_finger_gap": 0.027602627952760132,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024815872087276657,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06439369542269927,
+              -0.9979196523731547,
+              0.003133591749192476
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0043983929753469405,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03211854286032287,
+            "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": [
+              0.263720786758848,
+              -0.38256135022003485,
+              0.8470191512989466
+            ],
+            "target_position": [
+              0.2558258544533539,
+              -0.38543791530331656,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008402653318249582,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18563507810402158,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470191512989466,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557146910288595,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336888,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15416288946110784,
+            "release_required_pad_clearance": 0.052461859836684444,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1116000ee1c8a0dfae58afa5364b7a5a0ead1487c5fd1716820d66695f9ee20d",
+    "visual_seed": 9213401291497727149,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_87_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..61ae58e0d6200c13f39d2e26465f2a5ea5bffcb6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_87_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
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+              0.31876060106861326,
+              1.0453345490522958
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+              0.3136978303787763,
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+              0.0050627706898369595,
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+              0.2218117673889366,
+              0.2941362680376195,
+              1.0453345490522958
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+              0.31876060106861326,
+              1.0453345490522958
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+            "finger_midpoint": [
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+              0.3064484345531164,
+              1.0453345490522958
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+              0.01231216651549688,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_tilt_deg": 0.31109232569740886,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
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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": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      "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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+              0.3178438093932352,
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+              0.3224843810143822,
+              1.2335443723071615
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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": 0.007767925211936059,
+            "max_held_gripper_dist": 0.007774119242079462,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002586084815316969,
+            "max_held_gripper_z_dist": 0.002700042358173782,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08773024601832358,
+            "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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+              0.22677008020182582,
+              0.2969295431340658,
+              1.2335443723071615
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+              0.3224843810143822,
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+              0.22161308266920382,
+              0.309706962074224,
+              1.2335443723071615
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+            "held_grasp_object_position": [
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+              0.3224843810143822,
+              1.2335443723071615
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+            "held_grasp_finger_gap": 0.02755772547390536,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02480462064998827,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06705858310453415,
+              -0.99770785729966,
+              0.009065203502058194
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00429016008774371,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03210627274559422,
+            "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": [
+              0.25668782324730083,
+              -0.38636888120251867,
+              0.8470198194470686
+            ],
+            "target_position": [
+              0.24938796120769968,
+              -0.38884599979168505,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007708703023336899,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18565073489848924,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198194470686,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563285642473386,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08539347337361868,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15386063575323067,
+            "release_required_pad_clearance": 0.05269673668680934,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.44762318975048687,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dc34d53c2bb3964f23e5d61ade8178854d54fb1d35785b9a9b3eaefe6523f312",
+    "visual_seed": 2928018034336668025,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_88_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e676fefcd851b34f4f151bb380900b5d05420bf
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_88_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.32078993757749397,
+              1.0477838307921412
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+            "gripper_z": 1.0499406152132504,
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+            "gripper_position": [
+              0.2231025958358195,
+              0.3157467275938678,
+              1.0499406152132504
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+              0.005283133348082031,
+              0.0050432099836261735,
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+            "object_to_gripper_z": -0.0021567844211092257,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.22838572918390154,
+              0.29630577357266025,
+              1.0477838307921412
+            ],
+            "finger_b": [
+              0.21613819481665597,
+              0.32078993757749397,
+              1.0477838307921412
+            ],
+            "finger_midpoint": [
+              0.22226196200027876,
+              0.30854785557507713,
+              1.0477838307921412
+            ],
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+              0.006123767183622786,
+              0.012242082002416832,
+              0.0
+            ],
+            "finger_gap": 0.027376566349570877,
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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": 0.010953551890819143,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04842718107065888,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6339696286637961,
+            "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": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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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": [
+              0.2278429404354464,
+              0.32004980263175264,
+              1.2400446157637748
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+            "held_position": [
+              0.23348323253840692,
+              0.3246582268906816,
+              1.237820025759644
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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": 0.0076157251685891715,
+            "max_held_gripper_dist": 0.007622522963447123,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022245900041308886,
+            "max_held_gripper_z_dist": 0.0023449137504472084,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08727484342244046,
+            "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": [
+              0.23348323253840692,
+              0.2991617354351579,
+              1.237820025759644
+            ],
+            "held_grasp_finger_b": [
+              0.22310446752430976,
+              0.3246582268906816,
+              1.237820025759644
+            ],
+            "held_grasp_midpoint": [
+              0.22829385003135833,
+              0.31190998116291974,
+              1.237820025759644
+            ],
+            "held_grasp_object_position": [
+              0.23348323253840692,
+              0.3246582268906816,
+              1.237820025759644
+            ],
+            "held_grasp_finger_gap": 0.02752798284944684,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02465679275323431,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07379887249921706,
+              -0.9971071491760602,
+              0.01819503997891625
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004240965046120559,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03210588743321893,
+            "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": [
+              0.2565605774259294,
+              -0.38715482178055804,
+              0.8470194884741037
+            ],
+            "target_position": [
+              0.2503215581900401,
+              -0.38902031848265656,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006511945866738865,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18575208374775368,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194884741037,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518995853412078,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08644037999495928,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15510686458827144,
+            "release_required_pad_clearance": 0.05322018999747964,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4612272688251238,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1fc9f27ae215616f0f9dc5f85241da3084aaf56837edc26c2badf91116affa18",
+    "visual_seed": 6769881403707936293,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_89_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fe95eb0a61df124dd6b1fd0e3e014502f1f2738
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_89_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 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": [
+              0.23076923296611657,
+              0.32230425380151817,
+              1.046115112450465
+            ],
+            "current_z": 1.046115112450465,
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+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.18952848583260995,
+            "gripper_z": 1.0486374937904637,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22504850123917072,
+              0.3171498497669082,
+              1.0486374937904637
+            ],
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+              0.0057207317269458435,
+              0.005154404034609983,
+              -0.002522381339998603
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+            "object_to_gripper_xy": 0.007700302100806724,
+            "object_to_gripper_z": -0.002522381339998603,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23076923296611657,
+              0.2971854253714354,
+              1.046115112450465
+            ],
+            "finger_b": [
+              0.21878403323265216,
+              0.32230425380151817,
+              1.046115112450465
+            ],
+            "finger_midpoint": [
+              0.22477663309938437,
+              0.3097448395864768,
+              1.046115112450465
+            ],
+            "object_minus_finger_midpoint": [
+              0.005992599866732201,
+              0.012559414215041365,
+              0.0
+            ],
+            "finger_gap": 0.027831646633840593,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01391582331692027,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046115112450465,
+            "object_top_z": 1.0915237834641358,
+            "finger_top_clearance": 0.04540867101367074,
+            "fingertip_min_top_clearance": 0.013622601304101256,
+            "object_projection_between_fingers": 0.8145560162019329,
+            "object_to_finger_line_xy": 0.010816973201977683,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04801530751657135,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8229531100445152,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": [
+              0.22969267792877457,
+              0.32160589860523403,
+              1.2384772808028506
+            ],
+            "held_position": [
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+              0.32644697533741285,
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008102199479917,
+            "max_held_gripper_dist": 0.008105323630259861,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025932869376470435,
+            "max_held_gripper_z_dist": 0.0027208992710034963,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0873180512560594,
+            "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": [
+              0.23564956263007217,
+              0.30073182175994867,
+              1.2358839938652035
+            ],
+            "held_grasp_finger_b": [
+              0.22492465713926146,
+              0.32644697533741285,
+              1.2358839938652035
+            ],
+            "held_grasp_midpoint": [
+              0.23028710988466683,
+              0.31358939854868073,
+              1.2358839938652035
+            ],
+            "held_grasp_object_position": [
+              0.23564956263007217,
+              0.32644697533741285,
+              1.2358839938652035
+            ],
+            "held_grasp_finger_gap": 0.027862030100109188,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025308333580442918,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0363334616723762,
+              -0.9993331926103658,
+              0.0036124382452571427
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00489197560803105,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03215638523299909,
+            "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": [
+              0.2615337217947011,
+              -0.3842010854019495,
+              0.8470193711868955
+            ],
+            "target_position": [
+              0.25402948368867395,
+              -0.386896641752152,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007973682561343062,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18532466941578465,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193711868955,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551415763460011,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08706929021152039,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15396610234484864,
+            "release_required_pad_clearance": 0.0535346451057602,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0808450041180264,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 89,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3e3f78e248e730dea67fbb835788d42126d1b953ce081ef139ca81fedadccf24",
+    "visual_seed": 8179823868582726896,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_8_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..11380508f4f6793bef8c6062d7c55a99ad57a7f5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_8_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22236423922557672,
+              0.3256224456878252,
+              1.0458909766485465
+            ],
+            "current_z": 1.0458909766485465,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.18930435003069135,
+            "gripper_z": 1.048131092414511,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21676079741657517,
+              0.32048337487500855,
+              1.048131092414511
+            ],
+            "object_minus_gripper": [
+              0.005603441809001547,
+              0.005139070812816671,
+              -0.002240115765964612
+            ],
+            "object_to_gripper_xy": 0.007603197283117855,
+            "object_to_gripper_z": -0.002240115765964612,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22236423922557672,
+              0.3008153229799031,
+              1.0458909766485465
+            ],
+            "finger_b": [
+              0.21009062945063842,
+              0.3256224456878252,
+              1.0458909766485465
+            ],
+            "finger_midpoint": [
+              0.21622743433810757,
+              0.31321888433386413,
+              1.0458909766485465
+            ],
+            "object_minus_finger_midpoint": [
+              0.006136804887469149,
+              0.01240356135396109,
+              0.0
+            ],
+            "finger_gap": 0.02767733429998934,
+            "fingertip_max_gap": 0.09227106765175619,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013838667149994696,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0458909766485465,
+            "object_top_z": 1.0918042653000883,
+            "finger_top_clearance": 0.04591328865154187,
+            "fingertip_min_top_clearance": 0.013773986595462561,
+            "object_projection_between_fingers": 0.8033490250958594,
+            "object_to_finger_line_xy": 0.01100080450147124,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0486355338258781,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0493103175375216,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": [
+              0.22149053632251542,
+              0.32435481399840094,
+              1.235789942406485
+            ],
+            "held_position": [
+              0.22741849103272183,
+              0.32906467901302,
+              1.233444365467361
+            ],
+            "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": 0.007926235340913213,
+            "max_held_gripper_dist": 0.00792901122124315,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002345576939124072,
+            "max_held_gripper_z_dist": 0.0024722364289926357,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08774275744468168,
+            "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": [
+              0.22741849103272183,
+              0.30338513513498033,
+              1.233444365467361
+            ],
+            "held_grasp_finger_b": [
+              0.2169569408726177,
+              0.32906467901302,
+              1.233444365467361
+            ],
+            "held_grasp_midpoint": [
+              0.22218771595266976,
+              0.3162249070740002,
+              1.233444365467361
+            ],
+            "held_grasp_object_position": [
+              0.22741849103272183,
+              0.32906467901302,
+              1.233444365467361
+            ],
+            "held_grasp_finger_gap": 0.02772873970335723,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02507618500656819,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05378056889531954,
+              -0.9984138833412463,
+              0.016654367617780604
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00453782663368678,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03209950434338936,
+            "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": [
+              0.26266263304668214,
+              -0.38488217493998494,
+              0.8470196174749516
+            ],
+            "target_position": [
+              0.256209028090015,
+              -0.3865772112492047,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006672493164199714,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1846336935279487,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196174749516,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753643455012159,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08546633452659834,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15345406321585658,
+            "release_required_pad_clearance": 0.05273316726329917,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5173753379287489,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "27665ce2b33448bde2477a3219769db9a15655cb84b84863d1581444a3e7ba11",
+    "visual_seed": 8869278246484222688,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_90_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e728bb7669cc188451939a7cf76f36a3588879a6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_90_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22281424366806768,
+              0.3217593822738327,
+              1.0480846433629496
+            ],
+            "current_z": 1.0480846433629496,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19149807634973925,
+            "gripper_z": 1.0505663312449158,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21751650793075517,
+              0.31672950428337443,
+              1.0505663312449158
+            ],
+            "object_minus_gripper": [
+              0.0052977357373125145,
+              0.005029877990458287,
+              -0.0024816878819662325
+            ],
+            "object_to_gripper_xy": 0.007305181485856109,
+            "object_to_gripper_z": -0.0024816878819662325,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22281424366806768,
+              0.2972465073743702,
+              1.0480846433629496
+            ],
+            "finger_b": [
+              0.2106003350975819,
+              0.3217593822738327,
+              1.0480846433629496
+            ],
+            "finger_midpoint": [
+              0.2167072893828248,
+              0.30950294482410146,
+              1.0480846433629496
+            ],
+            "object_minus_finger_midpoint": [
+              0.006106954285242883,
+              0.012256437449731261,
+              0.0
+            ],
+            "finger_gap": 0.027387234223354612,
+            "fingertip_max_gap": 0.09073308104062366,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0136936171116773,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480846433629496,
+            "object_top_z": 1.093682101311734,
+            "finger_top_clearance": 0.04559745794878434,
+            "fingertip_min_top_clearance": 0.013679237384635267,
+            "object_projection_between_fingers": 0.8011099864658422,
+            "object_to_finger_line_xy": 0.010932028052926854,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047866540520311834,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.31963824866462204,
+            "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": []
+          }
+        },
+        "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": [
+              0.22227393040349655,
+              0.32077326490632785,
+              1.2384204932218223
+            ],
+            "held_position": [
+              0.2279171120128269,
+              0.3253566011564128,
+              1.2358356293107333
+            ],
+            "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": 0.007715827324148566,
+            "max_held_gripper_dist": 0.0077192095287536315,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025848639110890304,
+            "max_held_gripper_z_dist": 0.0027024337760948036,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0874468107300766,
+            "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": [
+              0.2279171120128269,
+              0.2998451921800628,
+              1.2358356293107333
+            ],
+            "held_grasp_finger_b": [
+              0.21768308896290942,
+              0.3253566011564128,
+              1.2358356293107333
+            ],
+            "held_grasp_midpoint": [
+              0.22280010048786816,
+              0.31260089666823776,
+              1.2358356293107333
+            ],
+            "held_grasp_object_position": [
+              0.2279171120128269,
+              0.3253566011564128,
+              1.2358356293107333
+            ],
+            "held_grasp_finger_gap": 0.027487582937479875,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024669649581678787,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0751753024674713,
+              -0.9971615203024757,
+              0.004192413025866481
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004143973652518883,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032096054396734755,
+            "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": [
+              0.25851965196058296,
+              -0.3817165697071353,
+              0.8470197873404866
+            ],
+            "target_position": [
+              0.25116577182189737,
+              -0.3840462862846912,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007714086622918696,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18729576411662097,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197873404866,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513444579182448,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0865845016224427,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1565983518931642,
+            "release_required_pad_clearance": 0.05329225081122135,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6022604105791594,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "64e3f88f93be1b7182e7dd4f50a976cfa9819aa4cfc07047998e65b023743c07",
+    "visual_seed": 3218269835902044827,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_91_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d57f668a68c407f5b132691def3daea53b4984e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_91_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22138142976558678,
+              0.32232241219891505,
+              1.046770359100341
+            ],
+            "current_z": 1.046770359100341,
+            "required_z": 0.8565865670132105,
+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.19018379208713054,
+            "gripper_z": 1.0490996128580403,
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+            "gripper_position": [
+              0.21617896814651671,
+              0.3173207352862473,
+              1.0490996128580403
+            ],
+            "object_minus_gripper": [
+              0.0052024616190700645,
+              0.00500167691266773,
+              -0.0023292537576993233
+            ],
+            "object_to_gripper_xy": 0.007216812235094558,
+            "object_to_gripper_z": -0.0023292537576993233,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22138142976558678,
+              0.2979113457002136,
+              1.046770359100341
+            ],
+            "finger_b": [
+              0.2091682942856438,
+              0.32232241219891505,
+              1.046770359100341
+            ],
+            "finger_midpoint": [
+              0.2152748620256153,
+              0.3101168789495643,
+              1.046770359100341
+            ],
+            "object_minus_finger_midpoint": [
+              0.00610656773997148,
+              0.012205533249350753,
+              0.0
+            ],
+            "finger_gap": 0.02729580271498654,
+            "fingertip_max_gap": 0.09145238068144418,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013647901357493287,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046770359100341,
+            "object_top_z": 1.0926804620963662,
+            "finger_top_clearance": 0.04591010299602516,
+            "fingertip_min_top_clearance": 0.013773030898807548,
+            "object_projection_between_fingers": 0.7998006752318619,
+            "object_to_finger_line_xy": 0.010922399515836529,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04822619034072209,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4778116491950844,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": [
+              0.2207786088440523,
+              0.32162621240990685,
+              1.2368459038548612
+            ],
+            "held_position": [
+              0.2263307023138815,
+              0.3261899483774007,
+              1.2344277031247874
+            ],
+            "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": 0.007582949469015729,
+            "max_held_gripper_dist": 0.007586097676295029,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002418200730073705,
+            "max_held_gripper_z_dist": 0.0025345557007911967,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0876684044867086,
+            "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": [
+              0.2263307023138815,
+              0.30075535115325425,
+              1.2344277031247874
+            ],
+            "held_grasp_finger_b": [
+              0.21607044425751118,
+              0.3261899483774007,
+              1.2344277031247874
+            ],
+            "held_grasp_midpoint": [
+              0.22120057328569634,
+              0.31347264976532746,
+              1.2344277031247874
+            ],
+            "held_grasp_object_position": [
+              0.2263307023138815,
+              0.3261899483774007,
+              1.2344277031247874
+            ],
+            "held_grasp_finger_gap": 0.027426112216970694,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02460047822983682,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07414373143078092,
+              -0.9971147498063028,
+              0.016275220681587817
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004178384123890322,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03213925203315034,
+            "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": [
+              0.25716228580372,
+              -0.3869572499039893,
+              0.8470194857771135
+            ],
+            "target_position": [
+              0.2509121913526578,
+              -0.3886211166172997,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00646777651800534,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18585640602740766,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194857771135,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752200010818303,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08664472928097584,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15504627826824804,
+            "release_required_pad_clearance": 0.053322364640487924,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6617311424060115,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 91,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ee97ce95604f7792d1ece9406e782447ed984029651b20926f0bf819f3954bd3",
+    "visual_seed": 4704371278232191314,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_92_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a782605befaf25d408dcf1d794b70d162332d4dc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_92_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22621470513745606,
+              0.3189244642426342,
+              1.0450692950396265
+            ],
+            "current_z": 1.0450692950396265,
+            "required_z": 0.8565866862224999,
+            "initial_z": 0.7565866862224999,
+            "lift_margin": 0.18848260881712664,
+            "gripper_z": 1.04736816866592,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22061873598104687,
+              0.31381642739873017,
+              1.04736816866592
+            ],
+            "object_minus_gripper": [
+              0.005595969156409197,
+              0.00510803684390404,
+              -0.0022988736262934406
+            ],
+            "object_to_gripper_xy": 0.007576734863921544,
+            "object_to_gripper_z": -0.0022988736262934406,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22621470513745606,
+              0.2940091670661519,
+              1.0450692950396265
+            ],
+            "finger_b": [
+              0.21414155101221738,
+              0.3189244642426342,
+              1.0450692950396265
+            ],
+            "finger_midpoint": [
+              0.22017812807483672,
+              0.30646681565439304,
+              1.0450692950396265
+            ],
+            "object_minus_finger_midpoint": [
+              0.006036577062619342,
+              0.012457648588241166,
+              0.0
+            ],
+            "finger_gap": 0.027686333883780934,
+            "fingertip_max_gap": 0.09142486870072969,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013843166941890467,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0450692950396265,
+            "object_top_z": 1.0906640715425762,
+            "finger_top_clearance": 0.04559477650294963,
+            "fingertip_min_top_clearance": 0.013678432950884889,
+            "object_projection_between_fingers": 0.8098437580990537,
+            "object_to_finger_line_xy": 0.010864790699645932,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04821243435036485,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6645303863768013,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
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+              ],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "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": [
+              0.22524222412309414,
+              0.3179594730988116,
+              1.2352501816976138
+            ],
+            "held_position": [
+              0.23111079901055057,
+              0.3226993817172421,
+              1.2328447647549414
+            ],
+            "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": 0.00791788706593187,
+            "max_held_gripper_dist": 0.007919261994702893,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002405416942672378,
+            "max_held_gripper_z_dist": 0.0025266014414047078,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08749313374828943,
+            "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": [
+              0.23111079901055057,
+              0.2970592113949354,
+              1.2328447647549414
+            ],
+            "held_grasp_finger_b": [
+              0.2206158290686244,
+              0.3226993817172421,
+              1.2328447647549414
+            ],
+            "held_grasp_midpoint": [
+              0.22586331403958748,
+              0.30987929655608876,
+              1.2328447647549414
+            ],
+            "held_grasp_object_position": [
+              0.23111079901055057,
+              0.3226993817172421,
+              1.2328447647549414
+            ],
+            "held_grasp_finger_gap": 0.02770492245502288,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025092512901317157,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04905458609087276,
+              -0.9987195477237668,
+              0.012365782542485215
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004615061934272467,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03213914210861486,
+            "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": [
+              0.26417152899874574,
+              -0.37967451636511135,
+              0.8470194929477439
+            ],
+            "target_position": [
+              0.2576489044022001,
+              -0.3813841427479879,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006742955879767376,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18624530428730135,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194929477439,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522590060392002,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08499595502228212,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15528164305181175,
+            "release_required_pad_clearance": 0.05249797751114106,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.06852791281975164,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 92,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "197169c3e7454fa05024ee1df3a309e280feece06ab633aefacfbac9c32046f0",
+    "visual_seed": 7859550090180542407,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_93_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f023a65fe0df0fb1cbf36f162a631a0af17edb38
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_93_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22806627780809594,
+              0.32064759321328024,
+              1.0467496392217666
+            ],
+            "current_z": 1.0467496392217666,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.19016301260391144,
+            "gripper_z": 1.0488527730664094,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22295015165985482,
+              0.31576899090266525,
+              1.0488527730664094
+            ],
+            "object_minus_gripper": [
+              0.0051161261482411124,
+              0.004878602310614988,
+              -0.0021031338446428904
+            ],
+            "object_to_gripper_xy": 0.007069335702161437,
+            "object_to_gripper_z": -0.0021031338446428904,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22806627780809594,
+              0.29618822105499404,
+              1.0467496392217666
+            ],
+            "finger_b": [
+              0.21616692129665033,
+              0.32064759321328024,
+              1.0467496392217666
+            ],
+            "finger_midpoint": [
+              0.22211659955237312,
+              0.30841790713413714,
+              1.0467496392217666
+            ],
+            "object_minus_finger_midpoint": [
+              0.005949678255722818,
+              0.012229686079143098,
+              0.0
+            ],
+            "finger_gap": 0.027200286244156123,
+            "fingertip_max_gap": 0.09212964791320236,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013600143122078068,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "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": [
+              0.22766682759539647,
+              0.3199269950451133,
+              1.24007878091196
+            ],
+            "held_position": [
+              0.23310758299445322,
+              0.324415546362298,
+              1.2379232534803732
+            ],
+            "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": 0.00737531089159562,
+            "max_held_gripper_dist": 0.007378603036771171,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0021555274315867567,
+            "max_held_gripper_z_dist": 0.002271250516277412,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0878692290251647,
+            "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": [
+              0.23310758299445322,
+              0.2990080205228733,
+              1.2379232534803732
+            ],
+            "held_grasp_finger_b": [
+              0.22293282388464203,
+              0.324415546362298,
+              1.2379232534803732
+            ],
+            "held_grasp_midpoint": [
+              0.22802020343954763,
+              0.31171178344258565,
+              1.2379232534803732
+            ],
+            "held_grasp_object_position": [
+              0.23310758299445322,
+              0.324415546362298,
+              1.2379232534803732
+            ],
+            "held_grasp_finger_gap": 0.02736910835638826,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024623078770129307,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07038362205573043,
+              -0.9973114001719765,
+              0.02039894196589698
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0041888765442739135,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03217254918105307,
+            "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": [
+              0.25619886096465116,
+              -0.3792435402042558,
+              0.847019634518773
+            ],
+            "target_position": [
+              0.25054450784234716,
+              -0.3807607745502935,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005854375226487058,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18415595067815857,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019634518773,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552819699906134,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08572827157875142,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15255243889855583,
+            "release_required_pad_clearance": 0.05286413578937571,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7702435857950013,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 93,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4c9f14f52e78513ba72c3780a4b7e7a5abb20a002a8327cf67572893331c00a3",
+    "visual_seed": 3111309191864346463,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_94_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d4631b2c6e5ad5fcdc90e357d410578b34f8c0e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_94_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2256812730391497,
+              0.3261003465744216,
+              1.0475204846113426
+            ],
+            "current_z": 1.0475204846113426,
+            "required_z": 0.8565866266178552,
+            "initial_z": 0.7565866266178553,
+            "lift_margin": 0.1909338579934874,
+            "gripper_z": 1.0496382484618465,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22043858313650422,
+              0.32106274409662616,
+              1.0496382484618465
+            ],
+            "object_minus_gripper": [
+              0.005242689902645481,
+              0.005037602477795444,
+              -0.0021177638505038843
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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",
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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",
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+                "table",
+                "wheel",
+                "workbench"
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+            },
+            "status": "active",
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+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22520576142369156,
+              0.32524764800287675,
+              1.2395699175645378
+            ],
+            "held_position": [
+              0.2308223275095223,
+              0.32983369910976784,
+              1.2373849437362976
+            ],
+            "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": 0.007573096459283737,
+            "max_held_gripper_dist": 0.007576353982472745,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002184973828240233,
+            "max_held_gripper_z_dist": 0.0023073128226833717,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0878492661618116,
+            "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": [
+              0.2308223275095223,
+              0.3043119071693579,
+              1.2373849437362976
+            ],
+            "held_grasp_finger_b": [
+              0.22052526248603654,
+              0.32983369910976784,
+              1.2373849437362976
+            ],
+            "held_grasp_midpoint": [
+              0.22567379499777943,
+              0.3170728031395629,
+              1.2373849437362976
+            ],
+            "held_grasp_object_position": [
+              0.2308223275095223,
+              0.32983369910976784,
+              1.2373849437362976
+            ],
+            "held_grasp_finger_gap": 0.027520745119772237,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024638665658259604,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0780178697035192,
+              -0.9968743885615239,
+              0.012436455966737259
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004140400354614858,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03207753705935,
+            "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": [
+              0.26270137680414457,
+              -0.3832987520096945,
+              0.8470193651685907
+            ],
+            "target_position": [
+              0.255895505226233,
+              -0.3855355174483982,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007164007786344453,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18563666045532873,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193651685907,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585957296858892,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08500704848019412,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15348440463792135,
+            "release_required_pad_clearance": 0.05250352424009706,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.07912929559523652,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 94,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1cda0b19c355214e5d03ce649552ee4d948782b711e50b3be03cfcd22568f27d",
+    "visual_seed": 2799506495728712225,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_95_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..36cbf1e1e4676cc1366284522723f7666379c10b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_95_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
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+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_96_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..55a864f59b03d8e2d937a49b2567bf05be6ed28c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_96_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.2212824896196743,
+              0.3221717897488875,
+              1.0486209283253414
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+            "required_z": 0.8565865074085656,
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+            "lift_margin": 0.1920344209167758,
+            "gripper_z": 1.050839830083535,
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+            "gripper_position": [
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+              0.3172889649674454,
+              1.050839830083535
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+              0.005203476267715529,
+              0.0048828247814420855,
+              -0.0022189017581937254
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+            "object_to_gripper_xy": 0.007135694998733037,
+            "object_to_gripper_z": -0.0022189017581937254,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2212824896196743,
+              0.2975884341172309,
+              1.0486209283253414
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+            "finger_b": [
+              0.20946058893906125,
+              0.3221717897488875,
+              1.0486209283253414
+            ],
+            "finger_midpoint": [
+              0.21537153927936778,
+              0.3098801119330592,
+              1.0486209283253414
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+              0.005910950340306531,
+              0.012291677815828295,
+              0.0
+            ],
+            "finger_gap": 0.027278172772654354,
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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": 1.095346765925238,
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+            "fingertip_min_top_clearance": 0.01401775127996897,
+            "object_projection_between_fingers": 0.8121790377286536,
+            "object_to_finger_line_xy": 0.010654012315845982,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04930322654261114,
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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
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": [
+              0.22065969221770265,
+              0.321937548746628,
+              1.242421562567834
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+            "held_position": [
+              0.22614263378686977,
+              0.3264796627474703,
+              1.2401519920269266
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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": 0.007472910964791676,
+            "max_held_gripper_dist": 0.007476071514188545,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002269570540907484,
+            "max_held_gripper_z_dist": 0.002384855420844545,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08702793997513425,
+            "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": [
+              0.22614263378686977,
+              0.30109818073930544,
+              1.2401519920269266
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+              0.21580206646092268,
+              0.3264796627474703,
+              1.2401519920269266
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+            "held_grasp_midpoint": [
+              0.2209723501238962,
+              0.3137889217433879,
+              1.2401519920269266
+            ],
+            "held_grasp_object_position": [
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+              0.3264796627474703,
+              1.2401519920269266
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+            "held_grasp_finger_gap": 0.02740706043254624,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02485428955654385,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04756210878066728,
+              -0.9986063357687652,
+              0.022874264377597542
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0045702418345429435,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03228126099952834,
+            "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",
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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": {
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+            "target": "heater_platform",
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+            "gripper_away_ok": true,
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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": 0.08555117795151133,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15347386889483094,
+            "release_required_pad_clearance": 0.05277558897575567,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5987224369751374,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 96,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8b2c6cb2963e77eb317c563c4d84bf4146c1480fdeffc971602f0ab948499f9b",
+    "visual_seed": 6662739652011714972,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_97_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..44bdb6e157673b065f1bace4b496a9719d688cb2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_97_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.23052941969717095,
+              0.3256280054078217,
+              1.0473578528882197
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+            "lift_margin": 0.19077128587500936,
+            "gripper_z": 1.0491711747678938,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22500357615078534,
+              0.3206842601155885,
+              1.0491711747678938
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+              0.005525843546385606,
+              0.004943745292233237,
+              -0.0018133218796740902
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+            "object_to_gripper_z": -0.0018133218796740902,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23052941969717095,
+              0.30066696458497005,
+              1.0473578528882197
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+            "finger_b": [
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+              0.3256280054078217,
+              1.0473578528882197
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+            "finger_midpoint": [
+              0.22467318684361776,
+              0.3131474849963959,
+              1.0473578528882197
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+              0.012480520411425833,
+              0.0
+            ],
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_projection_between_fingers": 0.8195534556891305,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04926969610903781,
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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": 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": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22967133733954773,
+              0.32511279577777014,
+              1.2374079869768855
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+            "held_position": [
+              0.2354081745295209,
+              0.32977066644145375,
+              1.2354980778135294
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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": 0.00763248406982519,
+            "max_held_gripper_dist": 0.00763447891981793,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0019099091633560938,
+            "max_held_gripper_z_dist": 0.0020372590902335563,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0875775208199625,
+            "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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+              0.30425096183710476,
+              1.2354980778135294
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+              0.32977066644145375,
+              1.2354980778135294
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+            "held_grasp_midpoint": [
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+              0.31701081413927923,
+              1.2354980778135294
+            ],
+            "held_grasp_object_position": [
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+              0.32977066644145375,
+              1.2354980778135294
+            ],
+            "held_grasp_finger_gap": 0.027572707811753625,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025175394243816866,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03118529449094665,
+              -0.9992661364576314,
+              0.022241086676497823
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004828122464389323,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03228694546419136,
+            "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"
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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_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 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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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539374555362377,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08575808234674649,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1538338251338867,
+            "release_required_pad_clearance": 0.05287904117337325,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7991690163287404,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 97,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c3e68a730080fbb7ab716e4aaae4e4d73921b43176c9aa17a4a69afe43147c3a",
+    "visual_seed": 1445202591132281960,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_98_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c42bff433283ee654ef440ec7b95929349c8f274
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_98_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "reason": "executed",
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+              0.32304138520909337,
+              1.047382503736177
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+            "gripper_z": 1.0498198274779973,
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+              0.3180086833813012,
+              1.0498198274779973
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+              0.005032701827792141,
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+            "object_to_gripper_z": -0.002437323741820263,
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+              0.29800085350264,
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+              0.3105211193558667,
+              1.047382503736177
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+              0.012520265853226686,
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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": 0.049423095550010857,
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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
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+            "stable_success_frames": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
+              "forbidden": [],
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+                },
+                {
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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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+              0.3230204624649246,
+              1.2376759169689524
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+              0.3278119754626328,
+              1.2351572813752874
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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": 0.007939724808806517,
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+            "held_gripper_z_dist": 0.002518635593665053,
+            "max_held_gripper_z_dist": 0.002642242030851172,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08734472507119007,
+            "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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+              0.3023276726982338,
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+              0.31506982408043327,
+              1.2351572813752874
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+            "held_grasp_object_position": [
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+              0.3278119754626328,
+              1.2351572813752874
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+            "held_grasp_finger_gap": 0.027675753620170388,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02532071869675372,
+            "held_grasp_world_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": 0.0052165050664606935,
+            "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"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
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+      "physical_semantics": {
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+        "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_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08593633511850056,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1572960106303217,
+            "release_required_pad_clearance": 0.05296816755925028,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9707494419140273,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 98,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3c415cd9c2c574de7fc7ffef079e074eb759a67451d536a3260cf47dd9d1ebe2",
+    "visual_seed": 8941320629656908002,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_99_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b361569fc29bd71715a21453f68b19267e85b2b2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_99_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.22866470737184338,
+              0.3283813146775134,
+              1.0472390570729964
+            ],
+            "current_z": 1.0472390570729964,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19065249005978602,
+            "gripper_z": 1.0493126432589692,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22302484012717563,
+              0.3233190943267703,
+              1.0493126432589692
+            ],
+            "object_minus_gripper": [
+              0.005639867244667751,
+              0.005062220350743107,
+              -0.0020735861859728644
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+            "object_to_gripper_xy": 0.007578533988638824,
+            "object_to_gripper_z": -0.0020735861859728644,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.22866470737184338,
+              0.3032876564942547,
+              1.0472390570729964
+            ],
+            "finger_b": [
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+              0.3283813146775134,
+              1.0472390570729964
+            ],
+            "finger_midpoint": [
+              0.22275970567697595,
+              0.31583448558588406,
+              1.0472390570729964
+            ],
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+              0.005905001694867434,
+              0.012546829091629352,
+              0.0
+            ],
+            "finger_gap": 0.027733875695325677,
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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": 1.0929323361176575,
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+            "fingertip_min_top_clearance": 0.013707983713398342,
+            "object_projection_between_fingers": 0.8186661363242291,
+            "object_to_finger_line_xy": 0.010685711274572511,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04848907251036606,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9091502271696089,
+            "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": {
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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_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": [
+              0.22765575577995825,
+              0.3277931667551694,
+              1.2387402317042642
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+            "held_position": [
+              0.23351265599185062,
+              0.332572910800208,
+              1.2366000665113168
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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": 0.007856814894169919,
+            "max_held_gripper_dist": 0.007858523417746306,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002140165192947352,
+            "max_held_gripper_z_dist": 0.0022718849459395507,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08716378750276049,
+            "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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+              0.23351265599185062,
+              0.30692673973361645,
+              1.2366000665113168
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+              0.332572910800208,
+              1.2366000665113168
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+              0.22819123331135904,
+              0.3197498252669122,
+              1.2366000665113168
+            ],
+            "held_grasp_object_position": [
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+              0.332572910800208,
+              1.2366000665113168
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+            "held_grasp_finger_gap": 0.027766819186840225,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025306225798320155,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.030691551202292163,
+              -0.9994814105036506,
+              0.009743651391043162
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004926960073788122,
+            "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"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
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+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "target": "heater_platform",
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+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194995637055,
+            "min_z": 0.5730800627579278,
+            "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": 0.08705384020813108,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15514331201942866,
+            "release_required_pad_clearance": 0.05352692010406554,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0653649729292947,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 99,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "94cc10f211a997db5196f53dd181527a454a75d989e1ad4ccea6ae7cb5599fa0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1a8791e3ce6782da61e3251e61178d3fd0e8884d128614efb6a660a426dd86cb",
+    "visual_seed": 3850576429936712878,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "ed308f3ea7221356f0d5b256ac33432bc6e466ecbb4b438f46b198abad173f8e"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_9_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a32c39c9546705a71ff034aaa3e479eaad41b7ba
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00001/results/episode_9_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2225114792490881,
+              0.32284759896195747,
+              1.0480727540343555
+            ],
+            "current_z": 1.0480727540343555,
+            "required_z": 0.8565866862224999,
+            "initial_z": 0.7565866862224999,
+            "lift_margin": 0.19148606781185562,
+            "gripper_z": 1.0503769019941882,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21717527444405013,
+              0.31783934150555576,
+              1.0503769019941882
+            ],
+            "object_minus_gripper": [
+              0.005336204805037964,
+              0.00500825745640171,
+              -0.002304147959832692
+            ],
+            "object_to_gripper_xy": 0.007318314318947607,
+            "object_to_gripper_z": -0.002304147959832692,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2225114792490881,
+              0.29823195324317825,
+              1.0480727540343555
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+            "finger_b": [
+              0.2104267079143288,
+              0.32284759896195747,
+              1.0480727540343555
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+            "finger_midpoint": [
+              0.21646909358170846,
+              0.3105397761025679,
+              1.0480727540343555
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+              0.006042385667379635,
+              0.012307822859389583,
+              0.0
+            ],
+            "finger_gap": 0.027422102624814784,
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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": 0.013603455752931214,
+            "object_projection_between_fingers": 0.8057883085070584,
+            "object_to_finger_line_xy": 0.010847981055242031,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04788782185526558,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.44260527883422357,
+            "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": [],
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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": [
+              0.22194228495886975,
+              0.32214586291216224,
+              1.239768991323042
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+            "held_position": [
+              0.2275993024587321,
+              0.32674676170661704,
+              1.2373836823185216
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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": 0.007672015104104735,
+            "max_held_gripper_dist": 0.007676276701033937,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002385309004520497,
+            "max_held_gripper_z_dist": 0.0025030703431441204,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08736205809347025,
+            "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": [
+              0.2275993024587321,
+              0.3012251589058344,
+              1.2373836823185216
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+              0.32674676170661704,
+              1.2373836823185216
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+            "held_grasp_midpoint": [
+              0.22243996665132099,
+              0.3139859603062257,
+              1.2373836823185216
+            ],
+            "held_grasp_object_position": [
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+              0.32674676170661704,
+              1.2373836823185216
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+            "held_grasp_finger_gap": 0.027528661308088596,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02482488732919169,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0625845753975739,
+              -0.9980046006393948,
+              0.008365884586073458
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004351935227925178,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03214199161953428,
+            "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,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
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+              -0.3861991110976441,
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+            "target_position": [
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18581658752571628,
+            "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",
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+}
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diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a84e29c1000d8a65097eb903d12074e50b216547
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
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vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_23","position":[0.054233778896706,-2.1095378777142284,0.71338606911949],"aabb_xy":[[0.047732142388701396,-2.119305699740538],[0.06073541540471063,-2.0997700556879186]]},{"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_24","position":[0.1766930356306431,-2.2803234101517864,0.71338606911949],"aabb_xy":[[0.15848721196939544,-2.2913488107337785],[0.1948988592918908,-2.269298009569795]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_25","position":[0.2334539980599072,1.7181019799329307,0.71338606911949],"aabb_xy":[[0.20890778243715646,1.6878530833838938],[0.2580002136826579,1.748350876481968]]}],"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":0.6864899019833463,"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/2770.png","name":"2770"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2770.png","name":"2770"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5328.png","name":"5328"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6118.png","name":"6118"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6583.png","name":"6583"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6935.png","name":"6935"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":775.2467891246305,"rotation_z_degrees":187.16862538263916,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006333628473256971,-0.008581506093662235,0.0037475966402125034]},{"name":"camera_2","offset_m":[0.01086170663636124,-0.009131948258187004,-0.00023498510227867517]},{"name":"camera_3","offset_m":[0.009003331586210857,-0.01070533185911748,-0.006417875411551517]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00016596198656040613,-0.0012338649577983618,0.0002224595548818392],"end_effector_yaw_offset_degrees":0.34681648945024346},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0017040724125690757,-0.00014397253447288568,-0.0013588513425840474],"end_effector_yaw_offset_degrees":0.0427907328598891},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00036191010870216317,0.0008986465143764936,-0.0010069281911987628],"end_effector_yaw_offset_degrees":-0.6449108095486011}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_brq_00002","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0012404563168797378,-0.0018839100959292688],"position_m":[0.30505954368312027,0.23551608990407072,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003742632361038827,-0.00040312285687426307],"position_m":[0.2713573676389612,-0.3434031228568743,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0007363994757023703,0.003817664378809223],"position_m":[0.31973639947570237,-0.08558233562119077,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014986443197479438,-0.0022692842964122583],"position_m":[0.34769864431974795,0.09493071570358774,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0fdcd19e386dca53d827dca51c783d2b7103356aab2b0f4d69921f557354be4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diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..74be0affb76ff179a40f23e1db7ea643b30ee51a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/resolved_config.yaml
@@ -0,0 +1,232 @@
+name: fast_2beaker_dual_target_s03_psl_brq_00002
+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 at heater platform.
+  layout_id: layout_00002
+  reproducibility:
+    enabled: true
+    layout_id: layout_00002
+    action_seed: 575825182625704749
+    step_seeds:
+    - 5345309411159085880
+    - 5445981180960300046
+    - 9151210094967360062
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.319
+      - 0.319
+      'y':
+      - -0.0894
+      - -0.0894
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.3063
+      - 0.3063
+      'y':
+      - 0.2374
+      - 0.2374
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3462
+      - 0.3462
+      'y':
+      - 0.0972
+      - 0.0972
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2751
+      - 0.2751
+      'y':
+      - -0.343
+      - -0.343
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  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
+  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/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..45ccc43e46ed6d501962dd0b2f9197ecb8e097b8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_0_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "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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+              0.24448912874890003,
+              1.0498326590955347
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+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1932462112916139,
+            "gripper_z": 1.0509779846946625,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32115772374017737,
+              0.2392954989357176,
+              1.0509779846946625
+            ],
+            "object_minus_gripper": [
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+              0.0051936298131824155,
+              -0.0011453255991278333
+            ],
+            "object_to_gripper_xy": 0.007866897343586381,
+            "object_to_gripper_z": -0.0011453255991278333,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3270665546886941,
+              0.21934864784364108,
+              1.0498326590955347
+            ],
+            "finger_b": [
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+              0.24448912874890003,
+              1.0498326590955347
+            ],
+            "finger_midpoint": [
+              0.32097696693681776,
+              0.23191888829627055,
+              1.0498326590955347
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012570240452629472,
+              0.0
+            ],
+            "finger_gap": 0.02793521247635143,
+            "fingertip_max_gap": 0.0926405603216384,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013967606238175702,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0498326590955347,
+            "object_top_z": 1.095755878075718,
+            "finger_top_clearance": 0.045923218980183256,
+            "fingertip_min_top_clearance": 0.01377696569405501,
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+            "object_to_finger_line_xy": 0.010960730277355113,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0488202801608192,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.144163515464617,
+            "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",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": [
+              0.32648799824406305,
+              0.24294305952943762,
+              1.2413527561957642
+            ],
+            "held_position": [
+              0.3326782548508089,
+              0.24781335892113826,
+              1.240097393927363
+            ],
+            "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": 0.007975902923624734,
+            "max_held_gripper_dist": 0.007976450978299778,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0012553622684012833,
+            "max_held_gripper_z_dist": 0.0013603678050819745,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08738628775929133,
+            "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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+              0.2220679316274764,
+              1.240097393927363
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+              0.24781335892113826,
+              1.240097393927363
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+              0.23494064527430733,
+              1.240097393927363
+            ],
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+              0.24781335892113826,
+              1.240097393927363
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+            "held_grasp_finger_gap": 0.027940574487400453,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02536188919576087,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03366871555613087,
+              -0.9992994166590531,
+              0.01634299414662332
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004995915893579362,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03215377908749685,
+            "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": [
+              0.332682798101208,
+              -0.3386392902913592,
+              0.847018610596051
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+              -0.3423608537552656,
+              0.8084375599031817
+            ],
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+            "xy_dist": 0.010029210847079232,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18922586252818044,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847018610596051,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754276349518166,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08660135536404277,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1580137455784451,
+            "release_required_pad_clearance": 0.05330067768202139,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6158787194615254,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "898f60e73e5a32e46bb55b59271ea95e2c3275f26279eaa8b5d36e974113f193",
+    "visual_seed": 3935768748268357861,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_100_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cbda27b92b3290557239f4ece27882b84ecf79b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_100_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.23852377952159132,
+              1.0504701578597189
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+            "lift_margin": 0.19388371005579796,
+            "gripper_z": 1.0505617740871374,
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+            "gripper_position": [
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+              0.2335203427806946,
+              1.0505617740871374
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+              0.005003436740896705,
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+            "object_to_gripper_z": -9.161622741848952e-05,
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+              0.21416721807004074,
+              1.0504701578597189
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+            "finger_b": [
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+              0.23852377952159132,
+              1.0504701578597189
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+              0.22634549879581603,
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+              0.012178280725775287,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 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"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.23515547836192663,
+              1.2405858328483812
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+            "held_position": [
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+              0.23954459403796305,
+              1.2403398545154802
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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": 0.007225523455508025,
+            "max_held_gripper_dist": 0.00722620749936452,
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+            "held_gripper_z_dist": 0.0002459783329009646,
+            "max_held_gripper_z_dist": 0.00033444145413419335,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08866197135382489,
+            "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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+              0.21374290317049477,
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+              0.33203000059977916,
+              0.22678047365570783,
+              1.2403398545154802
+            ],
+            "held_grasp_object_position": [
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+              0.23954459403796305,
+              1.2403398545154802
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+            "held_grasp_finger_gap": 0.027739116251091468,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024933250660560482,
+            "held_grasp_world_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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+              -0.9940697705012107,
+              0.0306685351702961
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033974369788394017,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+        },
+        "gripper": null,
+        "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",
+          "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": 0.0859691031277378,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1561938678049757,
+            "release_required_pad_clearance": 0.0529845515638689,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0032624324464494,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 100,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c877069be0909b762d40698d6a74973b2a0b9a358e33986263dfbb456e76d083",
+    "visual_seed": 5633867274725319510,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_101_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..053ba817c8953f9e7ef7974e4f930ed490c2e0fe
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_101_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.24563980382897696,
+              1.0481306528945067
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+            "lift_margin": 0.19154402627665157,
+            "gripper_z": 1.048261619815085,
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+            "gripper_position": [
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+              0.2406258833118021,
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+              0.0050139205171748635,
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+            "object_to_gripper_z": -0.0001309669205782349,
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+              0.2209126755084272,
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+            "finger_b": [
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+              0.24563980382897696,
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+              0.2332762396687021,
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+              0.01236356416027487,
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+              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": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                {
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+                  "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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+              0.24372323766089637,
+              1.2373350714795848
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+            "held_position": [
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+              0.2483135922004676,
+              1.2370637638142041
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+            "held_shake_count": 5,
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+            "max_held_gripper_z_dist": 0.00037348167262840626,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.23548618596495072,
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+              0.2483135922004676,
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+            "held_grasp_finger_gap": 0.027562287356603033,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02486234568347454,
+            "held_grasp_world_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": 0.004132475133462091,
+            "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": [],
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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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+        "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_position": [
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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": 0.07563246818086086,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08552517360160843,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15463006846279684,
+            "release_required_pad_clearance": 0.052762586800804215,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5747107855735393,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 101,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "010f1ba18df7e77b5688073f5303769e63253112a3461c49fcc7c28b4c031045",
+    "visual_seed": 2151422521461355164,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_103_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a787820a8f53750224996108021ddc83202eac9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_103_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+            "object_position": [
+              0.3345923963483299,
+              0.2390625613721564,
+              1.0494588449246518
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+            "lift_margin": 0.19287221830679668,
+            "gripper_z": 1.0503908866166205,
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+            "gripper_position": [
+              0.32887407001810987,
+              0.23401665338875854,
+              1.0503908866166205
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+              0.005718326330220014,
+              0.0050459079833978515,
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+            "object_to_gripper_xy": 0.007626299456211096,
+            "object_to_gripper_z": -0.0009320416919686991,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3345923963483299,
+              0.2140078679100942,
+              1.0494588449246518
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+            "finger_b": [
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+              0.2390625613721564,
+              1.0494588449246518
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+              0.32864302550536784,
+              0.2265352146411253,
+              1.0494588449246518
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+              0.012527346731031092,
+              0.0
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+            "object_to_finger_line_xy": 0.01074823770481211,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+              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"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            "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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+              0.23780887571705556,
+              1.239679113906843
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+            "held_position": [
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+              0.2425722772357845,
+              1.2386445269776745
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00768165371590287,
+            "max_held_gripper_dist": 0.007684143903617386,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010345869291685794,
+            "max_held_gripper_z_dist": 0.0011399630891371082,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08735428695722053,
+            "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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+              0.21698694298972368,
+              1.2386445269776745
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+              0.2297796101127541,
+              1.2386445269776745
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+            "held_grasp_object_position": [
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+              0.2425722772357845,
+              1.2386445269776745
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+            "held_grasp_finger_gap": 0.02772255593984359,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025366827646645006,
+            "held_grasp_world_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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+              -0.9997013170220752,
+              0.014387681796169007
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005086512404005244,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.33611503816746807,
+              -0.34086123244353245,
+              0.8470195768515572
+            ],
+            "target_position": [
+              0.32834238382922354,
+              -0.34367432520452906,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008266053855607471,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18729040104063924,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195768515572,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584748799244553,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0881665555828836,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15506542872265816,
+            "release_required_pad_clearance": 0.0540832777914418,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.1793401902525895,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 103,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8599d9128cfd35d9e324704a928dab26fea4a4750e36d56b366c6d7b66874b61",
+    "visual_seed": 7542154435757379574,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_104_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f80562066c93e3a31ab6ba112ff8145dc27bb903
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_104_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 104,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3316341945908395,
+              0.24238172517958587,
+              1.049312803560084
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+            "current_z": 1.049312803560084,
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+            "lift_margin": 0.1927264749654528,
+            "gripper_z": 1.0495513659535614,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32628130595322846,
+              0.23733295885004457,
+              1.0495513659535614
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+              0.00535288863761102,
+              0.005048766329541293,
+              -0.000238562393477304
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+            "object_to_gripper_xy": 0.007358223849338577,
+            "object_to_gripper_z": -0.000238562393477304,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3316341945908395,
+              0.21782463348125253,
+              1.049312803560084
+            ],
+            "finger_b": [
+              0.3194134447059982,
+              0.24238172517958587,
+              1.049312803560084
+            ],
+            "finger_midpoint": [
+              0.3255238196484188,
+              0.23010317933041918,
+              1.049312803560084
+            ],
+            "object_minus_finger_midpoint": [
+              0.006110374942420671,
+              0.012278545849166683,
+              0.0
+            ],
+            "finger_gap": 0.02742986475409969,
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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": 1.096945009711323,
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+            "object_projection_between_fingers": 0.8015055450971834,
+            "object_to_finger_line_xy": 0.01094085144913409,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04986695339546783,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6679720032398215,
+            "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": [
+                {
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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": [
+              0.33185947306874997,
+              0.24047163461795915,
+              1.2400633406350159
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+            "held_position": [
+              0.33760378326835805,
+              0.24506229357287568,
+              1.239711768034996
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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": 0.007361715330190478,
+            "max_held_gripper_dist": 0.00736590682519764,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0003515726000198338,
+            "max_held_gripper_z_dist": 0.0004516058500114717,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08878609623964573,
+            "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": [
+              0.33760378326835805,
+              0.2194542743527189,
+              1.239711768034996
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+              0.24506229357287568,
+              1.239711768034996
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+            "held_grasp_midpoint": [
+              0.33252048712471394,
+              0.2322582839627973,
+              1.239711768034996
+            ],
+            "held_grasp_object_position": [
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+              0.24506229357287568,
+              1.239711768034996
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+            "held_grasp_finger_gap": 0.027552318361906844,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024740286134776163,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07602241402823584,
+              -0.9962963087287331,
+              0.04017782695493099
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0041283498877211925,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032057193010302194,
+            "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": [
+              0.33200218766859807,
+              -0.3373219802305189,
+              0.8470195376346044
+            ],
+            "target_position": [
+              0.3257073242409613,
+              -0.33890400468084936,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006490616837715965,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18773122848807436,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195376346044,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568337722184483,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0854630832534699,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15561477202307125,
+            "release_required_pad_clearance": 0.05273154162673495,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5143409171116315,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 104,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "da788be451fb5fda0ea42315d5bc1f8f6ae01b4fc8f581f930ae1e244a4cbb73",
+    "visual_seed": 972428685357276352,
+    "episode_index": 104,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_106_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_106_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b9727a8bc796538ce6a80bc100cdf6f42a444fa
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_106_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 106,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.33398405010157395,
+              0.22963655075102665,
+              1.0023124884805013
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+            "gripper_position": [
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+              0.2232876321480149,
+              1.0495715273613633
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+              0.20322072658349993,
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+              0.22963655075102665,
+              1.0360773068722586
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+              0.2164286386672633,
+              1.036038433091497
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+              0.013207912083763346,
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+            "object_projection_between_fingers": 0.9369807506346106,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "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": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_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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+              "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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+              0.207637302640194,
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+            "held_position": [
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+              0.2111267755029268,
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.047689019530753704,
+            "max_held_gripper_dist": 0.04772372919462578,
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+            "max_held_gripper_z_dist": 0.04757027188172791,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09081899349755806,
+            "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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+              0.18076463852726365,
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+              0.23434965548328857,
+              1.1825358731923639
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+            "held_grasp_midpoint": [
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+              0.2075571470052761,
+              1.18420895934688
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+            "held_grasp_object_position": [
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+              0.2111267755029268,
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+            "held_grasp_finger_gap": 0.0536893929123734,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.04790626593938086,
+            "held_grasp_world_z_skew": 0.003346172309032225,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.8903269299539157,
+              0.05919668298611146
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.032810693526734686,
+            "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": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": [
+              0.3338346794006148,
+              -0.3415760573149489,
+              0.8470195392580684
+            ],
+            "target_position": [
+              0.3256411202641184,
+              -0.34457676029140866,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008725745221824777,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18765460588997257,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195392580684,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075305649851141,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08845087251035365,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15685198207160486,
+            "release_required_pad_clearance": 0.054225436255176826,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.4683101979927695,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 169,
+            "max_placed_release_frames": 169
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2f015dd01c1cd716bbbded286e801d086b52cbad2fd705b24cdf97629873ea38",
+    "visual_seed": 2338279961651130692,
+    "episode_index": 106,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_107_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_107_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd88790f63bd903f383540e9033904d24fefd2f3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_107_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 107,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.2379253917950293,
+              1.0497046558594396
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+            "gripper_z": 1.0499824205601054,
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+              0.005044760443596197,
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+            "object_to_gripper_z": -0.0002777647006657613,
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+              0.21320604639545554,
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+            "finger_b": [
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+              1.0497046558594396
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+              0.22556571909524242,
+              1.0497046558594396
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_max_tilt_deg": 15.0,
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+              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": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "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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+              0.23589954331216506,
+              1.2390110600220865
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+              0.2405088513431287,
+              1.2385952008855605
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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": 0.007445206072734659,
+            "max_held_gripper_dist": 0.00744627193247868,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0004158591365259756,
+            "max_held_gripper_z_dist": 0.0005128651388046634,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08791140389564572,
+            "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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+              0.21484319024821805,
+              1.2385952008855605
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+              0.22767602079567337,
+              1.2385952008855605
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+            "held_grasp_object_position": [
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+              1.2385952008855605
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+            "held_grasp_finger_gap": 0.027596026678022655,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024898959570281494,
+            "held_grasp_world_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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+              -0.9972676645776279,
+              0.02716383918773979
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0041912329109361915,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032054170850989105,
+            "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": [
+              0.3356171437157981,
+              -0.33531275355327383,
+              0.8470198083862729
+            ],
+            "target_position": [
+              0.326899753737008,
+              -0.3383524618535388,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009232156551586913,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18653591415774448,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198083862729,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586771085439756,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0858656801734141,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15440151616931186,
+            "release_required_pad_clearance": 0.05293284008670705,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9013470880204478,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 107,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4bb2d07f31e87189ff79579bc2d767dc2e9e105f74efcce492beb7a4db0d7a5d",
+    "visual_seed": 5072784354937354787,
+    "episode_index": 107,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_108_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_108_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..34ec0cce0346ee3fee51a65a910cbaf1155bebc6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_108_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 108,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.24227099888302214,
+              1.0488244087701843
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+              1.049793576856028
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+              0.005297856953607155,
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+            "object_to_gripper_z": -0.0009691680858436857,
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+              0.3362928831055748,
+              0.21725264086025917,
+              1.0488244087701843
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+            "finger_b": [
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+              0.24227099888302214,
+              1.0488244087701843
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+            "finger_midpoint": [
+              0.3300378837392336,
+              0.22976181987164065,
+              1.0488244087701843
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+            "object_minus_finger_midpoint": [
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+            "object_to_finger_line_xy": 0.011189136378150742,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_tilt_deg": 1.6173033606251577,
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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": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "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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+              0.24060272252707107,
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+            "held_position": [
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+              0.24549499692334437,
+              1.2363871180712624
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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": 0.008019831692212107,
+            "max_held_gripper_dist": 0.008022014372150202,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011161310748717401,
+            "max_held_gripper_z_dist": 0.0012246637651178727,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08864001964327592,
+            "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": [
+              0.34203361677800365,
+              0.21969821264873166,
+              1.2363871180712624
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+              0.3366362942313449,
+              0.232596604786038,
+              1.2363871180712624
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+            "held_grasp_object_position": [
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+              0.24549499692334437,
+              1.2363871180712624
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+            "held_grasp_finger_gap": 0.02796423504409855,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025368727911829973,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03764002973647658,
+              -0.999157042201692,
+              0.016383930548052206
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00491262107454832,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0321095502475886,
+            "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": [
+              0.3351032274859453,
+              -0.3426458438255039,
+              0.847018746214533
+            ],
+            "target_position": [
+              0.32627972347780665,
+              -0.3460382409212045,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009453178356328444,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18570253252642183,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847018746214533,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574025997589137,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0876310752784905,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15393375328064476,
+            "release_required_pad_clearance": 0.05381553763924525,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.636680311082524,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 108,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "04421c388e3deb8b2e2ced89d46559ea243bf48f2908d0e29a948a70e27e4587",
+    "visual_seed": 9002624592417675162,
+    "episode_index": 108,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_109_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_109_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ff8b2d3008ee91c0399a53d1449eaf0d1a2536a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_109_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 109,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.33582321379350566,
+              0.239200815592336,
+              1.0504794280717924
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+            "gripper_z": 1.0507105341560128,
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+            "gripper_position": [
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+              0.23396841057537726,
+              1.0507105341560128
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+              0.00556673721612122,
+              0.0052324050169587355,
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+            "object_to_gripper_z": -0.00023110608422038936,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.33582321379350566,
+              0.21459160194555774,
+              1.0504794280717924
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+            "finger_b": [
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+              0.239200815592336,
+              1.0504794280717924
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+              0.3295186056091166,
+              0.22689620876894687,
+              1.0504794280717924
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+              0.01230460682338913,
+              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": 0.04847553481783308,
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+            "object_tilt_deg": 0.7482237993232642,
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+              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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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "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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+      },
+      "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": [
+              0.33606989122619735,
+              0.23668658253320485,
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+            "held_position": [
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+              0.24137412292561025,
+              1.2403811754612701
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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": 0.0076449443858826625,
+            "max_held_gripper_dist": 0.007647627203247204,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0003667221939112064,
+            "max_held_gripper_z_dist": 0.0004696099241408014,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08802923530615644,
+            "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": [
+              0.34209796343589255,
+              0.21557590752686953,
+              1.2403811754612701
+            ],
+            "held_grasp_finger_b": [
+              0.33183671109157237,
+              0.24137412292561025,
+              1.2403811754612701
+            ],
+            "held_grasp_midpoint": [
+              0.33696733726373246,
+              0.2284750152262399,
+              1.2403811754612701
+            ],
+            "held_grasp_object_position": [
+              0.34209796343589255,
+              0.24137412292561025,
+              1.2403811754612701
+            ],
+            "held_grasp_finger_gap": 0.027764027399382087,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024825571493864815,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08504069884291858,
+              -0.9961229940534467,
+              0.022517998541275785
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00402593968470469,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03191481514851384,
+            "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": [
+              0.3361699770103268,
+              -0.33777421490189297,
+              0.847019593795606
+            ],
+            "target_position": [
+              0.32751620633644457,
+              -0.3406417256254738,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009116488612727774,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18948147370744867,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019593795606,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551890446590569,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0859471603317251,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15791374683631013,
+            "release_required_pad_clearance": 0.05297358016586255,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9819725792322472,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 158,
+            "max_placed_release_frames": 158
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 109,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "74584e88fdff6a6ae884f4612fc75489015fc06c5e26ada29f2a409ebf5faa19",
+    "visual_seed": 7194959236354376138,
+    "episode_index": 109,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_110_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_110_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..401f2073e018cef083e66cb8ee2adc1509756cdc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_110_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 110,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "object_position": [
+              0.326847536933087,
+              0.23816244434453754,
+              1.050205290788503
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+            "gripper_z": 1.0505132078786104,
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+            "gripper_position": [
+              0.3215171262632317,
+              0.2330725623952961,
+              1.0505132078786104
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+              0.00533041066985529,
+              0.005089881949241426,
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+            "object_to_gripper_z": -0.0003079170901072459,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.326847536933087,
+              0.2136876645824785,
+              1.050205290788503
+            ],
+            "finger_b": [
+              0.31448253733195464,
+              0.23816244434453754,
+              1.050205290788503
+            ],
+            "finger_midpoint": [
+              0.3206650371325208,
+              0.22592505446350802,
+              1.050205290788503
+            ],
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+              0.006182499800566177,
+              0.012237389881029515,
+              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": 0.7966596936996667,
+            "object_to_finger_line_xy": 0.011036478692907678,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04853282269941088,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7147626356810928,
+            "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": [
+                {
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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": [
+              0.3272146448466706,
+              0.2359866785591677,
+              1.242389548149723
+            ],
+            "held_position": [
+              0.3329846357933673,
+              0.2405627877075699,
+              1.241971331381388
+            ],
+            "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": 0.007376210119591788,
+            "max_held_gripper_dist": 0.007377361966805634,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.000418216768334867,
+            "max_held_gripper_z_dist": 0.0005127678901146737,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08788786497813203,
+            "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": [
+              0.3329846357933673,
+              0.21490382773657518,
+              1.241971331381388
+            ],
+            "held_grasp_finger_b": [
+              0.3228871384570154,
+              0.2405627877075699,
+              1.241971331381388
+            ],
+            "held_grasp_midpoint": [
+              0.32793588712519134,
+              0.22773330772207254,
+              1.241971331381388
+            ],
+            "held_grasp_object_position": [
+              0.3329846357933673,
+              0.2405627877075699,
+              1.241971331381388
+            ],
+            "held_grasp_finger_gap": 0.027574293812367028,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024674147698076614,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08713942035507687,
+              -0.9959108939680305,
+              0.0238372124204903
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003923937398791436,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03198326105184583,
+            "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": [
+              0.3366590483975463,
+              -0.34397769551893165,
+              0.8470196250570329
+            ],
+            "target_position": [
+              0.32855871130941144,
+              -0.3464166629308412,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00845955217359464,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18756136492684614,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196250570329,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538610260030147,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0860760434207916,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1563949141323509,
+            "release_required_pad_clearance": 0.0530380217103958,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.107108660294034,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 110,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4d0d90863f0a86652d6db1080b1cda73c1b9459dca9c2c0b3ae3e3079071d3ca",
+    "visual_seed": 6406389846625521475,
+    "episode_index": 110,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_111_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_111_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c648a7d1579de2cb8b3fea50c8f265d5625d0ff1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_111_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 111,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3310837400855882,
+              0.24447123226533513,
+              1.0496352323257974
+            ],
+            "current_z": 1.0496352323257974,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.19304860570794224,
+            "gripper_z": 1.0495917566991466,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3258592960750862,
+              0.23946263101416596,
+              1.0495917566991466
+            ],
+            "object_minus_gripper": [
+              0.0052244440105020384,
+              0.00500860125116917,
+              4.3475626650746335e-05
+            ],
+            "object_to_gripper_xy": 0.00723746514410149,
+            "object_to_gripper_z": 4.3475626650746335e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3310837400855882,
+              0.22004372397353839,
+              1.0496352323257974
+            ],
+            "finger_b": [
+              0.31887631661391935,
+              0.24447123226533513,
+              1.0496352323257974
+            ],
+            "finger_midpoint": [
+              0.3249800283497538,
+              0.23225747811943676,
+              1.0496352323257974
+            ],
+            "object_minus_finger_midpoint": [
+              0.006103711735834405,
+              0.01221375414589837,
+              0.0
+            ],
+            "finger_gap": 0.027307953954158675,
+            "fingertip_max_gap": 0.09146545135630244,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013653976977079325,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0496352323257974,
+            "object_top_z": 1.0952978141559337,
+            "finger_top_clearance": 0.045662581830136384,
+            "fingertip_min_top_clearance": 0.013698774549040916,
+            "object_projection_between_fingers": 0.8001658548711424,
+            "object_to_finger_line_xy": 0.01091978324616494,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04823272567815122,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6732851051036144,
+            "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": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
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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",
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+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "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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+              0.24232548742263418,
+              1.242190534747422
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+              0.2468455797314873,
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+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0072350479319728215,
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+            "held_gripper_z_dist": 5.382361880457154e-05,
+            "max_held_gripper_z_dist": 0.00015283617167272112,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08783429559031325,
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+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.33720350172468133,
+              0.22125311111147858,
+              1.2421367111286175
+            ],
+            "held_grasp_finger_b": [
+              0.3271903715840301,
+              0.2468455797314873,
+              1.2421367111286175
+            ],
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+              0.3321969366543557,
+              0.23404934542148292,
+              1.2421367111286175
+            ],
+            "held_grasp_object_position": [
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+              0.2468455797314873,
+              1.2421367111286175
+            ],
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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": 0.024729081337718936,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07808604828673853,
+              -0.9968154100397423,
+              0.016174281135852838
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+            "held_grasp_object_to_finger_line_xy": 0.003997596574715612,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03205379853328701,
+            "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": [
+              0.3389792013197102,
+              -0.341252174599582,
+              0.847019798327338
+            ],
+            "target_position": [
+              0.33101634877542346,
+              -0.3438615321952595,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008379484930720604,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18696375822394248,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019798327338,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580149757480602,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08534407628333955,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1548965455181084,
+            "release_required_pad_clearance": 0.05267203814166978,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3995825303762109,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 111,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "17394e27c68349e41ec6828306620f3ee72c419f43dcedc9d9e019cfa2c70c3d",
+    "visual_seed": 3329815161247220164,
+    "episode_index": 111,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_112_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_112_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a620350f367c5b6b69e5575c7670d7a3eed7cf21
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_112_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 112,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              0.23890490168436937,
+              1.0504784104015765
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+            "gripper_position": [
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+              0.23386798777855566,
+              1.0509990127831126
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+              0.005036913905813706,
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+            "object_to_gripper_z": -0.0005206023815360616,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.32667333704579266,
+              0.21427039153695454,
+              1.0504784104015765
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+              0.23890490168436937,
+              1.0504784104015765
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+              0.22658764661066194,
+              1.0504784104015765
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+              0.012317255073707428,
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_tilt_deg": 1.5849511009638944,
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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": {
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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",
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+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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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": "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": [
+              0.32683735890758797,
+              0.2370581393376916,
+              1.2427900132704959
+            ],
+            "held_position": [
+              0.33260700752996125,
+              0.24165655546510442,
+              1.242162947750706
+            ],
+            "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": 0.007404558546774663,
+            "max_held_gripper_dist": 0.0074056931755492345,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.000627065519789971,
+            "max_held_gripper_z_dist": 0.0007234045502506614,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08840138768677053,
+            "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": [
+              0.33260700752996125,
+              0.21604977718171833,
+              1.242162947750706
+            ],
+            "held_grasp_finger_b": [
+              0.32239080941699183,
+              0.24165655546510442,
+              1.242162947750706
+            ],
+            "held_grasp_midpoint": [
+              0.3274989084734765,
+              0.22885316632341138,
+              1.242162947750706
+            ],
+            "held_grasp_object_position": [
+              0.33260700752996125,
+              0.24165655546510442,
+              1.242162947750706
+            ],
+            "held_grasp_finger_gap": 0.027569508481979386,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024762652661899042,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07384483548093145,
+              -0.9964965466720809,
+              0.03926286723370365
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0041799269605246655,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03206448516596842,
+            "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": [
+              0.33874427769663207,
+              -0.34112474885616695,
+              0.8470192625306594
+            ],
+            "target_position": [
+              0.3325140484903197,
+              -0.34279076333350084,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006449136391942257,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18588168544142253,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192625306594,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584850635754244,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08536552431386389,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15357731333379837,
+            "release_required_pad_clearance": 0.05268276215693195,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4205779142146327,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 112,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "81eeee7785c60bbeb9307206a96fb4c9d9faba6ee05e702034f476c7b58c2752",
+    "visual_seed": 4512162027616830877,
+    "episode_index": 112,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_114_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_114_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d790c67323d97829b1728875d8ab358102a41806
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_114_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 114,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.32958547793136794,
+              0.23921481457084617,
+              1.050378675956494
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+            "lift_margin": 0.1937922877572179,
+            "gripper_z": 1.050718102667463,
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+            "gripper_position": [
+              0.32422451624886817,
+              0.23415491314688897,
+              1.050718102667463
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+              0.005360961682499776,
+              0.005059901423957208,
+              -0.00033942671096909294
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+            "object_to_gripper_xy": 0.007371737419455133,
+            "object_to_gripper_z": -0.00033942671096909294,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32958547793136794,
+              0.21465966300686182,
+              1.050378675956494
+            ],
+            "finger_b": [
+              0.3173359741620123,
+              0.23921481457084617,
+              1.050378675956494
+            ],
+            "finger_midpoint": [
+              0.32346072604669013,
+              0.226937238788854,
+              1.050378675956494
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+            "object_minus_finger_midpoint": [
+              0.006124751884677815,
+              0.012277575781992178,
+              0.0
+            ],
+            "finger_gap": 0.027440951348772533,
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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": 0.8007314944741334,
+            "object_to_finger_line_xy": 0.01096129714371511,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05021312328345438,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9638343640990066,
+            "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",
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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": "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": [
+              0.32994882075817655,
+              0.2369783550562582,
+              1.2415077584912442
+            ],
+            "held_position": [
+              0.3357247663625082,
+              0.24154790140654764,
+              1.2410495034984979
+            ],
+            "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": 0.007379180110962095,
+            "max_held_gripper_dist": 0.007382124850602905,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00045825499274632087,
+            "max_held_gripper_z_dist": 0.0005549055265801073,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08791404206794948,
+            "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": [
+              0.3357247663625082,
+              0.2158806123731357,
+              1.2410495034984979
+            ],
+            "held_grasp_finger_b": [
+              0.3256618086271366,
+              0.24154790140654764,
+              1.2410495034984979
+            ],
+            "held_grasp_midpoint": [
+              0.3306932874948224,
+              0.22871425688984165,
+              1.2410495034984979
+            ],
+            "held_grasp_object_position": [
+              0.3357247663625082,
+              0.24154790140654764,
+              1.2410495034984979
+            ],
+            "held_grasp_finger_gap": 0.027569418650174402,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02474643543776401,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08052368058260599,
+              -0.9956930706197794,
+              0.04594829686925861
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040265249448719126,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032016700852529445,
+            "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": [
+              0.33897316001561734,
+              -0.3425910698970857,
+              0.8470195719963779
+            ],
+            "target_position": [
+              0.3331478144268873,
+              -0.34385300725939727,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005960464506608061,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18314315362500697,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195719963779,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525516125860704,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08540480111559288,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1522374987808267,
+            "release_required_pad_clearance": 0.052702400557796444,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4579937127918811,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 114,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ed25e4299bdee5b0a425f6995c5cf7e7f94ee28257f1583a76579023c86d4fd5",
+    "visual_seed": 8076614877528355391,
+    "episode_index": 114,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_115_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_115_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..130d5774f9fa261f8b8dd3da9aef38d53c4fa547
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_115_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 115,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.33217765395090965,
+              0.24330641049096685,
+              1.0464877098509764
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+            "lift_margin": 0.18990120244241104,
+            "gripper_z": 1.0472291582992195,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3265061609417063,
+              0.238180936183713,
+              1.0472291582992195
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+              0.005671493009203332,
+              0.005125474307253852,
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+            "object_to_gripper_xy": 0.00764436523380206,
+            "object_to_gripper_z": -0.0007414484482430872,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33217765395090965,
+              0.21831783625255566,
+              1.0464877098509764
+            ],
+            "finger_b": [
+              0.3201165840231651,
+              0.24330641049096685,
+              1.0464877098509764
+            ],
+            "finger_midpoint": [
+              0.3261471189870374,
+              0.23081212337176127,
+              1.0464877098509764
+            ],
+            "object_minus_finger_midpoint": [
+              0.006030534963872236,
+              0.012494287119205583,
+              0.0
+            ],
+            "finger_gap": 0.027747040387589645,
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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": 1.0464877098509764,
+            "object_top_z": 1.0919526594959734,
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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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+                "franka",
+                "geometry",
+                "gripper",
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+                "left_inner_finger",
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+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
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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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+            "last_frame": {
+              "passed": true,
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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",
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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": [
+              0.3320229361232537,
+              0.2414095959396511,
+              1.2354996306126969
+            ],
+            "held_position": [
+              0.3380086249702282,
+              0.2461396615531657,
+              1.2346149744203296
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007680143765558171,
+            "max_held_gripper_dist": 0.007682508592414538,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0008846561923672169,
+            "max_held_gripper_z_dist": 0.000992172494705068,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08806511497916494,
+            "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": [
+              0.3380086249702282,
+              0.22037231737864174,
+              1.2346149744203296
+            ],
+            "held_grasp_finger_b": [
+              0.32769151511816286,
+              0.2461396615531657,
+              1.2346149744203296
+            ],
+            "held_grasp_midpoint": [
+              0.33285007004419553,
+              0.2332559894659037,
+              1.2346149744203296
+            ],
+            "held_grasp_object_position": [
+              0.3380086249702282,
+              0.2461396615531657,
+              1.2346149744203296
+            ],
+            "held_grasp_finger_gap": 0.0277560584649182,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02530482888840034,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.042458904015450494,
+              -0.9990506546180227,
+              0.009748383307361276
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004608617237007698,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03210975734468491,
+            "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": [
+              0.3353276915571355,
+              -0.33794180187551937,
+              0.8470195432886405
+            ],
+            "target_position": [
+              0.3268318720220843,
+              -0.3409224742432482,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009003519163965799,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18586656549073743,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195432886405,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569819354558667,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08769589199312237,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1541175900217284,
+            "release_required_pad_clearance": 0.05384794599656119,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7049678836328837,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 115,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b0092feb75457445c050de70daad3b49abcf07c4f242fae76d5063d432e196b5",
+    "visual_seed": 9169218548256662486,
+    "episode_index": 115,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_116_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_116_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a187c8068dd0d519fc51584beff9f3ca19156631
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_116_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 116,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.326828830617846,
+              0.23688459756679855,
+              1.0504593004614036
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+            "current_z": 1.0504593004614036,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19387273344819322,
+            "gripper_z": 1.0508538588328058,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3212717288686072,
+              0.2317722440716578,
+              1.0508538588328058
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+              0.005557101749238791,
+              0.005112353495140748,
+              -0.0003945583714022316
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+            "object_to_gripper_xy": 0.007550995835694167,
+            "object_to_gripper_z": -0.0003945583714022316,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
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+                "fr3_duo_mobile",
+                "fr3_joint1",
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
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+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
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+                "panda_joint6",
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+                "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",
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+                "ur5e",
+                "visuals",
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+                "wrist_3_joint"
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+                "base_link",
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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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+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
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+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "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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+              0.23444264280473676,
+              1.2398319843286425
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+              0.23908440250905674,
+              1.2392856004714048
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007561698162099632,
+            "max_held_gripper_dist": 0.007563830639193121,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0005463838572377089,
+            "max_held_gripper_z_dist": 0.0006411844965519276,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08806099489599548,
+            "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": [
+              0.3329386542124238,
+              0.2133089214497948,
+              1.2392856004714048
+            ],
+            "held_grasp_finger_b": [
+              0.3228272499015801,
+              0.23908440250905674,
+              1.2392856004714048
+            ],
+            "held_grasp_midpoint": [
+              0.32788295205700196,
+              0.22619666197942578,
+              1.2392856004714048
+            ],
+            "held_grasp_object_position": [
+              0.3329386542124238,
+              0.23908440250905674,
+              1.2392856004714048
+            ],
+            "held_grasp_finger_gap": 0.027687829835032565,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024991121319195855,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07048766318147637,
+              -0.9972209838277345,
+              0.024120504821833477
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004146692369527423,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.031991935044858366,
+            "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": [
+              0.33243041835831516,
+              -0.33939876617529663,
+              0.8470207671862819
+            ],
+            "target_position": [
+              0.32346510147141455,
+              -0.34223245100261435,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009402482469173547,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18773115327578455,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470207671862819,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755693809138531,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08588014964827022,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15619085407253008,
+            "release_required_pad_clearance": 0.05294007482413511,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9134206094825873,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 116,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "857e24a28617c9f3d6dc6e3816578bcedee6b3b46d05cab95598c108a88540a0",
+    "visual_seed": 7194365331470422726,
+    "episode_index": 116,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_117_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_117_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..322d6202fc538dd00c47c04bb4a5a1ba23f5cd79
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_117_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 117,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
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+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_118_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_118_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5cd3c55001c8e01cd5a75b071be63a1ab8a208f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_118_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 118,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+              0.0,
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+            "stable_success_frames": 223,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
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+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
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+                "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",
+            "passed": true,
+            "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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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 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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+              0.24665081936877792,
+              1.236617467865283
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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,
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+          "safety": {
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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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+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7401876373914594,
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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 159,
+            "max_placed_release_frames": 159
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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",
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+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+                "defaultgroundplane",
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+                "floor",
+                "ground",
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+          }
+        },
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+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 118,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "16b31c512b7ade5e54d9fd4f734eddb3be1425cdfbf6cd0be320763a85145f34",
+    "visual_seed": 5763987398168115634,
+    "episode_index": 118,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_119_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_119_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..55828cc9a29e6a20c72b897ceb4a2aca7bbf5019
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_119_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 119,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
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+              0.004997950363712755,
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+              1.0476203392513843
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+              0.22470350659480576,
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+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+          }
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+      },
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": 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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+            "gripper_position": [
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+              0.23954553780130006,
+              1.237978728760997
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+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.007320192692670658,
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+            "max_held_gripper_z_dist": 0.0002496902696658143,
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+            "held_object_xy_range": 0.08801057965066816,
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+              0.23954553780130006,
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+            "held_grasp_geometry_frame": "object_local",
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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",
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+            "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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+      "skill": "place",
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+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "metrics": {
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+            "release_required_pad_clearance": 0.05255790944018239,
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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": 0.1813048737751826,
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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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 119,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d1d41be65ad1d756ecabbc94ecc3ccc889534d8b1c09394f8fe25f099ad4d997",
+    "visual_seed": 2843820846873942170,
+    "episode_index": 119,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_11_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..67acb53180b6e54778472b067509de72da81f0eb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_11_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "reason": "executed",
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+              1.0496228348768495
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+              0.0051505953650013425,
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+            "object_to_gripper_z": -0.0007983251289573889,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.21609216743644033,
+              1.0496228348768495
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+            "finger_b": [
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+              0.24110153617816066,
+              1.0496228348768495
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+            "finger_midpoint": [
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+              0.2285968518073005,
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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": 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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+                  "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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+        "post_done_wait_exhausted": false
+      },
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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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+              0.23916985386935444,
+              1.2394459180921273
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+              0.24392268643238565,
+              1.2385136354578972
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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": 0.007736046418046502,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009322826342301749,
+            "max_held_gripper_z_dist": 0.0010365294653134072,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08799863018050769,
+            "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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+              0.3343916322117786,
+              0.23102734656047752,
+              1.2385136354578972
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+              0.24392268643238565,
+              1.2385136354578972
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+            "held_grasp_finger_gap": 0.027802896675573213,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025305004510134656,
+            "held_grasp_world_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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+              -0.9989742914100181,
+              0.009740082233135161
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004618762360869969,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "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": 0.08704287176109753,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1579809951568859,
+            "release_required_pad_clearance": 0.053521435880548765,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0509118022250656,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a193ce09351abfeab6ea68618d6763c1503a8a077f0164ec25b623032860fa99",
+    "visual_seed": 6363493651757791438,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_120_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_120_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc1e630a7108898d17e95b405eaaf5a7112cc074
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_120_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 120,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.24359854516861137,
+              1.0494994992484414
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+            "lift_margin": 0.19291287263058632,
+            "gripper_z": 1.0497055178557466,
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+            "gripper_position": [
+              0.32792135167570424,
+              0.23834345155549758,
+              1.0497055178557466
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+              0.005255093613113798,
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+            "object_to_gripper_z": -0.00020601860730518062,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3335599287349235,
+              0.21892457575101412,
+              1.0494994992484414
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+              0.24359854516861137,
+              1.0494994992484414
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+            "finger_midpoint": [
+              0.327250435059225,
+              0.23126156045981275,
+              1.0494994992484414
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+              0.012336984708798626,
+              0.0
+            ],
+            "finger_gap": 0.027713599704752186,
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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": 0.01123493560224963,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04838803159075118,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6226078841230492,
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+            "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": [],
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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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+        "post_done_wait_exhausted": false
+      },
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+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3335319765890722,
+              0.24147519421361052,
+              1.238858390226367
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+            "held_position": [
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+              0.2462233981969354,
+              1.2385130285939294
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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": 0.007711612088430647,
+            "max_held_gripper_dist": 0.007713208802689993,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00034536163243759077,
+            "max_held_gripper_z_dist": 0.000453375195267558,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08882793530737546,
+            "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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+              0.22046161952929294,
+              1.2385130285939294
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+              0.23334250886311417,
+              1.2385130285939294
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+            "held_grasp_object_position": [
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+              0.2462233981969354,
+              1.2385130285939294
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+            "held_grasp_finger_gap": 0.02779486143706404,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02486916880410037,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07765731283428648,
+              -0.9968064619781314,
+              0.01860696434128828
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004208395666334204,
+            "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"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
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+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08584446384463389,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15516240273795898,
+            "release_required_pad_clearance": 0.052922231922316945,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8820371702515504,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 120,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8c1947c8ed6e9b17108f383a6ff29ad8f9ed0a8c92075f31360942626aef348e",
+    "visual_seed": 6977254055805142853,
+    "episode_index": 120,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_121_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_121_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e04cb4da8901c44d764d3c4dfca2edb4afe67e48
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_121_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 121,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
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+          "skill": "pick",
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+              1.050805542606794
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+              0.24090669623567865,
+              1.050882458985696
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+              0.005152111000752718,
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+            "object_to_gripper_z": -7.691637890205882e-05,
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+              1.050805542606794
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+              0.23361541751155107,
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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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+              "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,
+            "gripper_position": [
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+              0.24357886047022642,
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+            "held_shake_count": 5,
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+            "max_held_gripper_z_dist": 0.0003285856700350198,
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+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025117940787502083,
+            "held_grasp_world_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": 0.0042677140454827995,
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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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+            "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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+          "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",
+            "release_finger_gap": 0.0755710125010027,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08611980702849896,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15652454723173076,
+            "release_required_pad_clearance": 0.05305990351424948,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1494252124764455,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 121,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7dda25e57d7dcd736c4f4ee4e73b83d00210ffd9aec2f87f4c20c0e6eaea3a81",
+    "visual_seed": 619157098709855092,
+    "episode_index": 121,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_123_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_123_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..129bbc7f0135efeb6fbeaab6952c169146ceacc4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_123_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 123,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.24011097446163884,
+              1.0474934129618025
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+            "current_z": 1.0474934129618025,
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+            "gripper_position": [
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+              0.23513837593474968,
+              1.047584982502918
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+              0.005293249414750123,
+              0.004972598526889166,
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+            "object_to_gripper_z": -9.15695411154438e-05,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.33532169579744237,
+              0.2155721059951531,
+              1.0474934129618025
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+              0.24011097446163884,
+              1.0474934129618025
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+            "finger_midpoint": [
+              0.3292806614560023,
+              0.22784154022839598,
+              1.0474934129618025
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+              0.012269434233242865,
+              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": 223,
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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"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_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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+        "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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+              0.23806124380209318,
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+              0.2425906816774223,
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+            "held_shake_count": 5,
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+            "max_held_gripper_z_dist": 0.00031867211165592657,
+            "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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+              0.2170197845870611,
+              1.2373267477640686
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+              1.2373267477640686
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+            "held_grasp_object_position": [
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+              0.2425906816774223,
+              1.2373267477640686
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02475410421535813,
+            "held_grasp_world_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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+              0.03668926084166724
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004089237654161205,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "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
+      }
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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": [
+              0.3307453049828137,
+              -0.3420538632853931,
+              0.8470194743103114
+            ],
+            "target_position": [
+              0.3241848430485347,
+              -0.3437922780059573,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006786880471306245,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18659431451016786,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194743103114,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525727644354015,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0859846136622575,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15558521110092133,
+            "release_required_pad_clearance": 0.05299230683112875,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.017977276749924,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 123,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c0f035f83e9b752c428f3bb2b3eea1db965260f2ef53224526c722ba6a9bd1ed",
+    "visual_seed": 1147259881784435100,
+    "episode_index": 123,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_124_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_124_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..da85d47cc4a5c74fd80122624d16197097263c83
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_124_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 124,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.33286138589674424,
+              0.23521921728334302,
+              1.0489693305591392
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+            "current_z": 1.0489693305591392,
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+            "gripper_z": 1.0491943623167042,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.327664122345644,
+              0.23031907622498657,
+              1.0491943623167042
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+              0.004900141058356455,
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+            "object_to_gripper_xy": 0.007143033726042855,
+            "object_to_gripper_z": -0.00022503175756494187,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.33286138589674424,
+              0.21066705903190938,
+              1.0489693305591392
+            ],
+            "finger_b": [
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+              0.23521921728334302,
+              1.0489693305591392
+            ],
+            "finger_midpoint": [
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+              0.2229431381576262,
+              1.0489693305591392
+            ],
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+              0.012276079125716821,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.010689897156199637,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05069122256000104,
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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": 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": {
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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"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.23327272770783705,
+              1.2379804962181358
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+            "held_position": [
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+              0.23775209985285456,
+              1.2376181834888156
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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": 0.007145867339634283,
+            "max_held_gripper_dist": 0.007146982885279999,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0003623127293201911,
+            "max_held_gripper_z_dist": 0.0004531303396972941,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08783890571154856,
+            "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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+              0.2122106299141443,
+              1.2376181834888156
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+              0.23775209985285456,
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+              0.22498136488349943,
+              1.2376181834888156
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+            "held_grasp_object_position": [
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+              0.23775209985285456,
+              1.2376181834888156
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+            "held_grasp_finger_gap": 0.027373444345236038,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024724432816345124,
+            "held_grasp_world_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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+              -0.9959836442826886,
+              0.052449492174601806
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040406766898457075,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032123555064089954,
+            "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,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": [
+              0.3381257534416168,
+              -0.3413424438747816,
+              0.8470196474265337
+            ],
+            "target_position": [
+              0.332573268754889,
+              -0.3425199503870256,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0056759675635722154,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1846999758663567,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196474265337,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586837543203098,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08635368571659495,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15230075209856236,
+            "release_required_pad_clearance": 0.05317684285829748,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3768364108148057,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 124,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d3e2e93ed03198b5e6cefca138f15a642b06f9dddc4bb23befdbaa933dc38e78",
+    "visual_seed": 2024769535916336291,
+    "episode_index": 124,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_125_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_125_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa01b564bdcd1d8b72f329b5e8a9f6b1b8dcfdbf
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_125_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 125,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "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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+              0.24164639131245927,
+              1.0479887754327017
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+              0.21685722163411172,
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+              1.0479887754327017
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+              0.2292518064732855,
+              1.0479887754327017
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+            "fingertip_z_max_dist": 0.1,
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+              1.0
+            ],
+            "stable_success_frames": 224,
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+            "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,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "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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+              0.23968352134504378,
+              1.239480647832936
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+              0.24428627165156203,
+              1.2391241846899965
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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": 0.007408179750453493,
+            "max_held_gripper_dist": 0.0074093577616234155,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00035646314293957815,
+            "max_held_gripper_z_dist": 0.0004551723746510916,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08786031275143524,
+            "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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+              0.21865737204564484,
+              1.2391241846899965
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+              0.23147182184860343,
+              1.2391241846899965
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+            "held_grasp_object_position": [
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+              0.24428627165156203,
+              1.2391241846899965
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+            "held_grasp_finger_gap": 0.027587237491274175,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024885774021393865,
+            "held_grasp_world_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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+              -0.9974029789284431,
+              0.02819599139370043
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042595598379983135,
+            "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": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": [
+              0.3322005339703887,
+              -0.34350237237520925,
+              0.8470197462019907
+            ],
+            "target_position": [
+              0.32522811856229544,
+              -0.3455266628156936,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007260325640799612,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18657722432221246,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197462019907,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574474068935984,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.085776314582712,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15445945953476248,
+            "release_required_pad_clearance": 0.052888157291356,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8166075414314117,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 125,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8f6d33accd112f0695118f97492e363c2150c7fed96db44747a67ec8f40ecfd6",
+    "visual_seed": 8907528668330042713,
+    "episode_index": 125,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_126_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_126_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e421254de45417224073c38b1c169edf1cc2562
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_126_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 126,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.24492774345322824,
+              1.0486964155905332
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+              0.23978155316527786,
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+              0.005146190287950381,
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+            "object_to_gripper_z": -0.0010802681980250917,
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+              0.3281242432889464,
+              0.21991692021927237,
+              1.0486964155905332
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+            "finger_b": [
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+              0.24492774345322824,
+              1.0486964155905332
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+            "finger_midpoint": [
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+              0.2324223318362503,
+              1.0486964155905332
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "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": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
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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": [
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+              0.24349591899158524,
+              1.23745131316012
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+              0.24830143858590545,
+              1.236237582906081
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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": 0.007803722419804147,
+            "max_held_gripper_dist": 0.00780544165848006,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001213730254038925,
+            "max_held_gripper_z_dist": 0.0013215094255540905,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08737968182913225,
+            "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": [
+              0.3336314357527945,
+              0.22263642656199378,
+              1.236237582906081
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+              0.24830143858590545,
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+              0.23546893257394963,
+              1.236237582906081
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+            "held_grasp_object_position": [
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+              0.24830143858590545,
+              1.236237582906081
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+            "held_grasp_finger_gap": 0.027786332350349302,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025366666439517228,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02688376474634776,
+              -0.9995294073788307,
+              0.014772507505045992
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004980915103020488,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032230623926938394,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3407133804337217,
+              -0.3357391759884163,
+              0.8470189336559699
+            ],
+            "target_position": [
+              0.331339514305931,
+              -0.339539864711141,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0101150680150352,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1873144772422405,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470189336559699,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551824254305733,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08685502053276349,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15612749841574983,
+            "release_required_pad_clearance": 0.05342751026638175,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8662819426352335,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 126,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "67c8337666c8f8d5316da17200b2c13d8a451f35c4f1fa348daa558de5e647c5",
+    "visual_seed": 6545037827936263582,
+    "episode_index": 126,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_127_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_127_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b7db6acb446e34ce7dbd838a9f00499eb599204
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_127_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 127,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.23762119120980002,
+              1.049010241254538
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+            "gripper_z": 1.0492937024987339,
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+            "gripper_position": [
+              0.3242970827826905,
+              0.2325399535138836,
+              1.0492937024987339
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+              0.005081237695916424,
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+              0.21297671700225082,
+              1.049010241254538
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+              0.3175038609000117,
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+              1.049010241254538
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+              0.32362194805866495,
+              0.2252989541060254,
+              1.049010241254538
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+              0.006118087158653307,
+              0.012322237103774614,
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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,
+              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": {
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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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+        "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": [
+              0.32989719873294016,
+              0.23551445227657408,
+              1.2382085236128757
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+            "held_position": [
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+              0.2401288495004443,
+              1.237781891404799
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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": 0.007450303530387658,
+            "max_held_gripper_dist": 0.007451698415806462,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00042663220807659386,
+            "max_held_gripper_z_dist": 0.0005230585225735052,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0879325437895358,
+            "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": [
+              0.3357309236076902,
+              0.21445437285352606,
+              1.237781891404799
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+            "held_grasp_finger_b": [
+              0.32560714483444875,
+              0.2401288495004443,
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+            "held_grasp_midpoint": [
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+              0.22729161117698518,
+              1.237781891404799
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+            "held_grasp_object_position": [
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+              0.2401288495004443,
+              1.237781891404799
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+            "held_grasp_finger_gap": 0.027598363135205757,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024844931182623473,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07407411722676945,
+              -0.9968982624353762,
+              0.026587205765232214
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004111682606815288,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03202784939887207,
+            "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": [
+              0.33354477556405465,
+              -0.3404419936989893,
+              0.8470196815161637
+            ],
+            "target_position": [
+              0.32442182076369375,
+              -0.34341093717319315,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0095939006479349,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18807288522375928,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196815161637,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525502170862286,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08535111873420813,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1572563104551276,
+            "release_required_pad_clearance": 0.052675559367104066,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4073433735561309,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 127,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0fdcd19e386dca53d827dca51c783d2b7103356aab2b0f4d69921f557354be44",
+    "visual_seed": 3368129534093384564,
+    "episode_index": 127,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_12_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..13696a9721b00f1e98a0ae9f6ebfbdb16d5170dd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_12_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.32937571744652056,
+              0.24021127280829221,
+              1.0475396929596432
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+            "gripper_z": 1.0475592719660856,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.23517633381120795,
+              1.0475592719660856
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+              0.0053499644306799765,
+              0.005034938997084265,
+              -1.9579006442338454e-05
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+            "object_to_gripper_z": -1.9579006442338454e-05,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.32937571744652056,
+              0.21563191242831034,
+              1.0475396929596432
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+              0.31721269551395725,
+              0.24021127280829221,
+              1.0475396929596432
+            ],
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+              0.3232942064802389,
+              0.22792159261830128,
+              1.0475396929596432
+            ],
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+              0.012289680189990937,
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+            "object_to_finger_line_xy": 0.010901314653696396,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047965505899943736,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.23420582414915292,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "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": []
+            },
+            "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,
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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": [
+              0.3295356942043432,
+              0.2385206055203184,
+              1.2373372268757716
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+            "held_position": [
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+              0.24311038033460655,
+              1.237193821498556
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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": 0.007352078497160084,
+            "max_held_gripper_dist": 0.007353335955876765,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00014340537721557745,
+            "max_held_gripper_z_dist": 0.00023986390582120265,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08787682426054302,
+            "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": [
+              0.3352773368508613,
+              0.21751332965272643,
+              1.237193821498556
+            ],
+            "held_grasp_finger_b": [
+              0.32513491767500513,
+              0.24311038033460655,
+              1.237193821498556
+            ],
+            "held_grasp_midpoint": [
+              0.3302061272629332,
+              0.2303118549936665,
+              1.237193821498556
+            ],
+            "held_grasp_object_position": [
+              0.3352773368508613,
+              0.24311038033460655,
+              1.237193821498556
+            ],
+            "held_grasp_finger_gap": 0.027533210316806767,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024729700155775147,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07763358116134494,
+              -0.9968762727848032,
+              0.014516329933683236
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004066686296618804,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03204798256566199,
+            "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": [
+              0.34107772600856034,
+              -0.3353937695849204,
+              0.847019972969241
+            ],
+            "target_position": [
+              0.3322153821140445,
+              -0.33862933975946036,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009434513959872805,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18855803463843673,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019972969241,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520256476617358,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08623962539126871,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1579099891426353,
+            "release_required_pad_clearance": 0.05311981269563436,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.264219606490355,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 159,
+            "max_placed_release_frames": 159
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "54b7e5b9d26b938f5d72bd77813a6887f884c9da4012c9aa6d8444f34a53df06",
+    "visual_seed": 6578484086626212810,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_13_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac8f5217a4d404776241952710db70db37526c09
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_13_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.32918022355922855,
+              0.24566160179000593,
+              1.0464440663817036
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+            "gripper_z": 1.0473989620399038,
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+            "gripper_position": [
+              0.3234621907385049,
+              0.24055284954133463,
+              1.0473989620399038
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+              0.00571803282072364,
+              0.0051087522486713,
+              -0.0009548956582001722
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+            "object_to_gripper_z": -0.0009548956582001722,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.32918022355922855,
+              0.22064401381878027,
+              1.0464440663817036
+            ],
+            "finger_b": [
+              0.31713965166827585,
+              0.24566160179000593,
+              1.0464440663817036
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+            "finger_midpoint": [
+              0.32315993761375217,
+              0.2331528078043931,
+              1.0464440663817036
+            ],
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+              0.006020285945476378,
+              0.012508793985612832,
+              0.0
+            ],
+            "finger_gap": 0.02776427703649449,
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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": 0.01084941149772538,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04905697630993576,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.541779179228188,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": "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": [
+              0.32869774336737123,
+              0.24402040207259423,
+              1.2355382371844166
+            ],
+            "held_position": [
+              0.3346783536593609,
+              0.24879200322348446,
+              1.2344563727886502
+            ],
+            "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": 0.007726985672217631,
+            "max_held_gripper_dist": 0.007728590766758917,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010818643957664076,
+            "max_held_gripper_z_dist": 0.0011889706347978368,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08738562006696846,
+            "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": [
+              0.3346783536593609,
+              0.2231198999111008,
+              1.2344563727886502
+            ],
+            "held_grasp_finger_b": [
+              0.32412648313025205,
+              0.24879200322348446,
+              1.2344563727886502
+            ],
+            "held_grasp_midpoint": [
+              0.32940241839480644,
+              0.23595595156729263,
+              1.2344563727886502
+            ],
+            "held_grasp_object_position": [
+              0.3346783536593609,
+              0.24879200322348446,
+              1.2344563727886502
+            ],
+            "held_grasp_finger_gap": 0.027756059881488517,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02534864527584161,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.029322197068002927,
+              -0.9994525571481045,
+              0.015323014364681975
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004901281151338541,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03221649830079939,
+            "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": [
+              0.34150730338697866,
+              -0.3439700494628919,
+              0.8470193968021367
+            ],
+            "target_position": [
+              0.3326660187308638,
+              -0.3472032433831189,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009413918275417767,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18925367024281728,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193968021367,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519914030305982,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08701504921089619,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15866703701951893,
+            "release_required_pad_clearance": 0.053507524605448095,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.026726971361204,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 160,
+            "max_placed_release_frames": 160
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c11b75c1c58f46edfe659a90029cea0c3ad330f0de7501eda7ae6d0dabe28f17",
+    "visual_seed": 6994242862082434149,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_14_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc7fcf6dc83530e92bbb940959c3357be1ee0f7f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_14_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3336537642640744,
+              0.23870626241591653,
+              1.049272642869417
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+            "lift_margin": 0.192686254670141,
+            "gripper_z": 1.0496377099988183,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32796440481420563,
+              0.23345425691273747,
+              1.0496377099988183
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+              0.005689359449868758,
+              0.005252005503179058,
+              -0.0003650671294013197
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+            "object_to_gripper_xy": 0.007742891756652294,
+            "object_to_gripper_z": -0.0003650671294013197,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3336537642640744,
+              0.21393096043170895,
+              1.049272642869417
+            ],
+            "finger_b": [
+              0.32110825522212394,
+              0.23870626241591653,
+              1.049272642869417
+            ],
+            "finger_midpoint": [
+              0.32738100974309914,
+              0.22631861142381274,
+              1.049272642869417
+            ],
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+              0.006272754520975254,
+              0.012387650992103788,
+              0.0
+            ],
+            "finger_gap": 0.02777058489715945,
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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": 1.0962440236962931,
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+            "object_projection_between_fingers": 0.7959171446742074,
+            "object_to_finger_line_xy": 0.011192374096943201,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04951104403674529,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4105769369885255,
+            "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"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33389148164132165,
+              0.23612136083440471,
+              1.2404024768896769
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+            "held_position": [
+              0.34003070163219734,
+              0.24082848584405453,
+              1.2398984932381947
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007752486534899611,
+            "max_held_gripper_dist": 0.007757082732477624,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0005039836514821872,
+            "max_held_gripper_z_dist": 0.0006071476440820955,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08859057927964203,
+            "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": [
+              0.34003070163219734,
+              0.21492810172538918,
+              1.2398984932381947
+            ],
+            "held_grasp_finger_b": [
+              0.3297778868948405,
+              0.24082848584405453,
+              1.2398984932381947
+            ],
+            "held_grasp_midpoint": [
+              0.3349042942635189,
+              0.22787829378472185,
+              1.2398984932381947
+            ],
+            "held_grasp_object_position": [
+              0.34003070163219734,
+              0.24082848584405453,
+              1.2398984932381947
+            ],
+            "held_grasp_finger_gap": 0.02785588102237971,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02502314402217142,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07673443018073371,
+              -0.9965059900478846,
+              0.03297937269754214
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0041403285983255735,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03190190905810536,
+            "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": [
+              0.33801827546730734,
+              -0.3390814922624359,
+              0.8470196930345752
+            ],
+            "target_position": [
+              0.32861065286248375,
+              -0.34211242357196686,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009883820500084106,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18787856393418262,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196930345752,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754522913969005,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08516700816817512,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15654444134291545,
+            "release_required_pad_clearance": 0.05258350408408756,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.23069862744171066,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e8a2a7db2e158ba6fb5afa1c25fee53b5bc7c3af450a6e67271a27c9a10f7c00",
+    "visual_seed": 642301531809061981,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_16_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..abe48c72820766bb58847447cd8739b8f3b6b9ee
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_16_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3296665197891743,
+              0.242996968054206,
+              1.0476147974167833
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+            "gripper_z": 1.04776558843861,
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+            "gripper_position": [
+              0.32406309910106357,
+              0.23789209052230154,
+              1.04776558843861
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+              0.005603420688110705,
+              0.005104877531904473,
+              -0.00015079102182657955
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+            "object_to_gripper_xy": 0.00758011200601219,
+            "object_to_gripper_z": -0.00015079102182657955,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3296665197891743,
+              0.2181366001167337,
+              1.0476147974167833
+            ],
+            "finger_b": [
+              0.3175209440017458,
+              0.242996968054206,
+              1.0476147974167833
+            ],
+            "finger_midpoint": [
+              0.32359373189546004,
+              0.23056678408546985,
+              1.0476147974167833
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+              0.006072787893714238,
+              0.012430183968736158,
+              0.0
+            ],
+            "finger_gap": 0.027668626731275812,
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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": 1.0946447533501473,
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+            "object_projection_between_fingers": 0.8073091876378451,
+            "object_to_finger_line_xy": 0.010912846735057453,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04946392712440413,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.291277340390285,
+            "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"
+              ],
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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,
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+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3297663931991085,
+              0.24048754419245622,
+              1.235970724792388
+            ],
+            "held_position": [
+              0.33574790726453385,
+              0.24513738286906206,
+              1.235665480279444
+            ],
+            "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": 0.007582393055363411,
+            "max_held_gripper_dist": 0.007583530222555368,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0003052445129438919,
+            "max_held_gripper_z_dist": 0.0004055842983559099,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08803940060279847,
+            "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": [
+              0.33574790726453385,
+              0.2193296686481866,
+              1.235665480279444
+            ],
+            "held_grasp_finger_b": [
+              0.32563814535198665,
+              0.24513738286906206,
+              1.235665480279444
+            ],
+            "held_grasp_midpoint": [
+              0.33069302630826025,
+              0.23223352575862433,
+              1.235665480279444
+            ],
+            "held_grasp_object_position": [
+              0.33574790726453385,
+              0.24513738286906206,
+              1.235665480279444
+            ],
+            "held_grasp_finger_gap": 0.02771724010854558,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025048089965930415,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06783513433902995,
+              -0.9971393360589801,
+              0.0333397515447007
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004190635163714064,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03199038292537232,
+            "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": [
+              0.34123944009399887,
+              -0.3360841162966211,
+              0.8470192804028926
+            ],
+            "target_position": [
+              0.3327681377063171,
+              -0.3388659909540473,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008916377669949453,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18749868473224915,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192804028926,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535522237093865,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08504951061586673,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15633792707281635,
+            "release_required_pad_clearance": 0.052524755307933366,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.11869204593586298,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 158,
+            "max_placed_release_frames": 158
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "104b0ac3b08679f2bdda1551d564431d7b898a1296d71d41a1bf3490cec7927a",
+    "visual_seed": 7314067022952862773,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_17_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd627bdb479803d75b70f0925dfd9d5adfcc5386
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_17_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3267330439378127,
+              0.24291827417719053,
+              1.0496848423362175
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+            "current_z": 1.0496848423362175,
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+            "lift_margin": 0.19309833492765194,
+            "gripper_z": 1.0498601787251796,
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+            "gripper_position": [
+              0.3215986439358721,
+              0.23795228576428007,
+              1.0498601787251796
+            ],
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+              0.005134400001940598,
+              0.00496598841291046,
+              -0.00017533638896205517
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+            "object_to_gripper_xy": 0.007143045869731523,
+            "object_to_gripper_z": -0.00017533638896205517,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3267330439378127,
+              0.21853696324684,
+              1.0496848423362175
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+            "finger_b": [
+              0.3146011128826547,
+              0.24291827417719053,
+              1.0496848423362175
+            ],
+            "finger_midpoint": [
+              0.3206670784102337,
+              0.23072761871201525,
+              1.0496848423362175
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060659655275790425,
+              0.012190655465175282,
+              0.0
+            ],
+            "finger_gap": 0.027232922608665017,
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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": 1.0974414193012652,
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+            "fingertip_min_top_clearance": 0.01432697308951426,
+            "object_projection_between_fingers": 0.8015407419327624,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04991881351478912,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.79044551797388,
+            "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",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32734723196261695,
+              0.24080384686654852,
+              1.238235151051032
+            ],
+            "held_position": [
+              0.33291285983843943,
+              0.24527275743934307,
+              1.2379173710647569
+            ],
+            "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": 0.007144813467085364,
+            "max_held_gripper_dist": 0.007147244847233265,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0003177799862752462,
+            "max_held_gripper_z_dist": 0.00041195656798032054,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08791996989809009,
+            "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": [
+              0.33291285983843943,
+              0.21968363675374394,
+              1.2379173710647569
+            ],
+            "held_grasp_finger_b": [
+              0.3231579879857651,
+              0.24527275743934307,
+              1.2379173710647569
+            ],
+            "held_grasp_midpoint": [
+              0.3280354239121023,
+              0.2324781970965435,
+              1.2379173710647569
+            ],
+            "held_grasp_object_position": [
+              0.33291285983843943,
+              0.24527275743934307,
+              1.2379173710647569
+            ],
+            "held_grasp_finger_gap": 0.027385408931112472,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0246179054562734,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08709247818453959,
+              -0.9952464460659578,
+              0.0435822422180877
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003787252069601324,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032041696273652054,
+            "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": [
+              0.33864629961252385,
+              -0.3409575784299634,
+              0.8470195091121511
+            ],
+            "target_position": [
+              0.3327463786903083,
+              -0.3422522015955678,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006040291055016814,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18594944034699207,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195091121511,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526418217069421,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08540395893097634,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15485210980078787,
+            "release_required_pad_clearance": 0.05270197946548817,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.45799446412495115,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ddf7e2a44d13b40067f82100ae7281bf482837bd9018640f9ef77ee34882b364",
+    "visual_seed": 5764879206892382719,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_18_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..733717e9649747c1cad4a9dd357c6e361b02ce2e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_18_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.3347656604556945,
+              0.24273726858086678,
+              1.0471849065450682
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+            "lift_margin": 0.19059827992721312,
+            "gripper_z": 1.047821223576011,
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+            "gripper_position": [
+              0.32874254829846894,
+              0.23749626761025594,
+              1.047821223576011
+            ],
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+              0.006023112157225563,
+              0.005241000970610837,
+              -0.0006363170309426902
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+            "object_to_gripper_xy": 0.007984107416140022,
+            "object_to_gripper_z": -0.0006363170309426902,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3347656604556945,
+              0.21751341653211045,
+              1.0471849065450682
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+            "finger_b": [
+              0.32251686801349566,
+              0.24273726858086678,
+              1.0471849065450682
+            ],
+            "finger_midpoint": [
+              0.32864126423459505,
+              0.23012534255648862,
+              1.0471849065450682
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+            "object_minus_finger_midpoint": [
+              0.0061243962210994485,
+              0.012611926024378162,
+              0.0
+            ],
+            "finger_gap": 0.028040606777843022,
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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": 1.0471849065450682,
+            "object_top_z": 1.0926555100201027,
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+            "fingertip_min_top_clearance": 0.013641181042510319,
+            "object_projection_between_fingers": 0.8091853405349888,
+            "object_to_finger_line_xy": 0.011018368139668172,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04816268934850683,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
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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",
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+                "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",
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+                "defaultgroundplane",
+                "desk",
+                "floor",
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+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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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": [
+              0.3341799189068792,
+              0.24069449606401216,
+              1.2379432203267757
+            ],
+            "held_position": [
+              0.340498731270228,
+              0.24558524329680034,
+              1.2371847201397326
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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": 0.0080263391849572,
+            "max_held_gripper_dist": 0.0080291320205503,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.000758500187043154,
+            "max_held_gripper_z_dist": 0.0008699518855250776,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0881702816939699,
+            "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": [
+              0.340498731270228,
+              0.21972446783773783,
+              1.2371847201397326
+            ],
+            "held_grasp_finger_b": [
+              0.3296855314681888,
+              0.24558524329680034,
+              1.2371847201397326
+            ],
+            "held_grasp_midpoint": [
+              0.3350921313692084,
+              0.2326548555672691,
+              1.2371847201397326
+            ],
+            "held_grasp_object_position": [
+              0.340498731270228,
+              0.24558524329680034,
+              1.2371847201397326
+            ],
+            "held_grasp_finger_gap": 0.02803042984513207,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025364863021550253,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04341857721749083,
+              -0.9989784263437466,
+              0.012527204483869792
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004842841236880559,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03204829970446265,
+            "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": [
+              0.3420211412341326,
+              -0.34343367415655,
+              0.8470195187353429
+            ],
+            "target_position": [
+              0.33283780467544133,
+              -0.34682002490952407,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009787800660636848,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18765053420153793,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195187353429,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523428693585697,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08538552890272492,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15712193170111613,
+            "release_required_pad_clearance": 0.052692764451362464,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4405738744849413,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5e6debf0f5a61a7a3e3bec662f894a57d862086a239433b27180a083bfbdbc39",
+    "visual_seed": 198279661000078204,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_1_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..32c1cc1a42b3fc22aaa5cc80ca245c99298151b9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_1_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3307837136274255,
+              0.23680021372927168,
+              1.0484621565802195
+            ],
+            "current_z": 1.0484621565802195,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19187558956700912,
+            "gripper_z": 1.0486324699609824,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3256268754303725,
+              0.2318253344917998,
+              1.0486324699609824
+            ],
+            "object_minus_gripper": [
+              0.005156838197052982,
+              0.004974879237471891,
+              -0.0001703133807628987
+            ],
+            "object_to_gripper_xy": 0.007165361373860606,
+            "object_to_gripper_z": -0.0001703133807628987,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3307837136274255,
+              0.21247104424592336,
+              1.0484621565802195
+            ],
+            "finger_b": [
+              0.31853306134821313,
+              0.23680021372927168,
+              1.0484621565802195
+            ],
+            "finger_midpoint": [
+              0.3246583874878193,
+              0.22463562898759754,
+              1.0484621565802195
+            ],
+            "object_minus_finger_midpoint": [
+              0.006125326139606202,
+              0.012164584741674145,
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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",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
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+                "left_inner_finger",
+                "lift2",
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+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "ground",
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+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
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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
+      },
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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": [
+              0.3318757373388235,
+              0.233766709516258,
+              1.2404467081542454
+            ],
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+              0.3375509147059794,
+              0.23813478812620964,
+              1.2401421822848386
+            ],
+            "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": 0.007168018198674872,
+            "max_held_gripper_dist": 0.007169020856559883,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00030452586940676873,
+            "max_held_gripper_z_dist": 0.0003925317287278851,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08868112171507661,
+            "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": [
+              0.3375509147059794,
+              0.2123625417919887,
+              1.2401421822848386
+            ],
+            "held_grasp_finger_b": [
+              0.32809167575996545,
+              0.2384055541302548,
+              1.2401421822848386
+            ],
+            "held_grasp_midpoint": [
+              0.33282129523297244,
+              0.22538404796112177,
+              1.2401421822848386
+            ],
+            "held_grasp_object_position": [
+              0.3375509147059794,
+              0.23813478812620964,
+              1.2401421822848386
+            ],
+            "held_grasp_finger_gap": 0.027707682925298304,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024885890810840826,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10551496002855769,
+              -0.9938935517108998,
+              0.03228313921639414
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033839462496945572,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032028300926544136,
+            "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": [
+              0.33221508162579316,
+              -0.34485097516739216,
+              0.8470195217692795
+            ],
+            "target_position": [
+              0.3258343534953286,
+              -0.34584137950443267,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006457134985868789,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1841305099401762,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195217692795,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551625530897092,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08617716160658344,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15241796114878953,
+            "release_required_pad_clearance": 0.05308858080329172,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2039682561930247,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "31288d12f2a8064511c5dc02cbec62fc0cf687c5e9f86e2114d2ff2167c62f0c",
+    "visual_seed": 9057209899314681682,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_20_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f8cc613fa3324740f9cdd183a120ccbc19f7fec
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_20_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.33461388123359087,
+              0.2382540850928671,
+              1.0475532235418898
+            ],
+            "current_z": 1.0475532235418898,
+            "required_z": 0.8565866862224999,
+            "initial_z": 0.7565866862224999,
+            "lift_margin": 0.19096653731938995,
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+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
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+                "ur5e",
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+                "base_link",
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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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+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "shake_count": 5,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.21613299604866545,
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+              1.2382814391399342
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+              1.2382814391399342
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02536990000258032,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.021746313857682345,
+              -0.9996669037170277,
+              0.013898900906691769
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005070409756844854,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0322827201736961,
+            "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": [
+              0.34138769695005694,
+              -0.3367123311955783,
+              0.8470196345025034
+            ],
+            "target_position": [
+              0.3322191721108617,
+              -0.3403607369932307,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009867761275551995,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18756808498564134,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196345025034,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523231912824477,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08553670309105303,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15717817140731288,
+            "release_required_pad_clearance": 0.05276835154552652,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5855043630352749,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 159,
+            "max_placed_release_frames": 159
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7d7adcd4536dcc781ff9e0180bddd2ff9058601b64bcf08a82950a5acab27806",
+    "visual_seed": 9074351027417630169,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_21_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f99dff8cb3680ab6d85abc4f656a770c53886d6c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_21_success.json
@@ -0,0 +1,686 @@
+{
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+  "success": true,
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+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "acd56c3797df22defcbf33484802181a72f7502e056a0e1c686905a37444cff7",
+    "visual_seed": 87265293828914535,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_22_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eeae1c7e7d5371e404368746086799758d1e93b2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_22_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+              1.0476444106836014
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+              0.2118953013645594,
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+              0.22406322673947004,
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+              0.0,
+              1.0
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+            "stable_success_frames": 223,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "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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+              0.23396424993940407,
+              1.2390896099304813
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+              0.23842179757596668,
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+            "max_held_gripper_z_dist": 0.00033214745917176103,
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+              0.2256091405332199,
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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": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+        },
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "place",
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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": 157,
+            "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"
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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",
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+                "wheel",
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+            "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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9646d3d2a4f54c09f2d92bddcabc3cea2ef972549c9a34d72972d21561ba2af2",
+    "visual_seed": 3886940670762881374,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_23_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a251363a400acb3bee1d6992d257d0485776875
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_23_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              1.0491813031168893
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+              0.2298898434684209,
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+              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": {},
+          "safety": {
+            "policy": {
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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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+                  "b": "/World/target_beaker/mesh"
+                },
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+              ],
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+          }
+        },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.24044941044746693,
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+              0.2450522102967959,
+              1.2381774772064138
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+            "held_shake_count": 5,
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+            "held_object_xy_range": 0.08788051582219736,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.2450522102967959,
+              1.2381774772064138
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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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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+                  "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",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_min_pad_clearance": 0.15426731072438918,
+            "release_required_pad_clearance": 0.05397097073316333,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.9523599260987994,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8aae3a2ab0ffd425b806e0614e958539ab6435ca0a6107e50b22c0fbce29207b",
+    "visual_seed": 7401721729781928839,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_24_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..946fbac4def6b7245a0cbf297e9a25e77f3ff21b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_24_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.23581194771167543,
+              1.0495835019043094
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+            "lift_margin": 0.1929970541003888,
+            "gripper_z": 1.0495956804080662,
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+            "gripper_position": [
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+              0.2307941632098084,
+              1.0495956804080662
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+              0.005017784501867045,
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+            "object_to_gripper_z": -1.2178503756787862e-05,
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+              0.21135582050273666,
+              1.0495835019043094
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+            "finger_b": [
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+              0.23581194771167543,
+              1.0495835019043094
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+              0.22358388410720603,
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+              0.012228063604469402,
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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": 0.04817215861659059,
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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": 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": [],
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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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+            },
+            "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": [
+              0.335382580039707,
+              0.23349633970733896,
+              1.2411810724668881
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+            "held_position": [
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+              0.2380184771101378,
+              1.2410537101562638
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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": 0.007263969728063953,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0001273623106243793,
+            "max_held_gripper_z_dist": 0.00022155190693951,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08803946879078925,
+            "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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+              0.2123890055794484,
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+              0.33609145250549977,
+              0.2252037413447931,
+              1.2410537101562638
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+            "held_grasp_object_position": [
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+              0.2380184771101378,
+              1.2410537101562638
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+            "held_grasp_finger_gap": 0.02749268012815321,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024731555833604365,
+            "held_grasp_world_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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+              -0.9965363242183313,
+              0.017337710229204273
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003922156341078645,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "place",
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+          "passed": true,
+          "metrics": {
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+            "release_fingertip_min_gap": 0.08507464767344923,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15606288002498567,
+            "release_required_pad_clearance": 0.05253732383672462,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.14265084115386711,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "db984682c633760879a2480c6e3c65c5d6f1bfa310e4387bebfeda26ff83f0a9",
+    "visual_seed": 4495463380962159198,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_25_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a78664b8bd9bb1ce4d87a7fd3f37164c9559c099
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_25_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "target": "beaker_b",
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+          "skill": "pick",
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+              1.0475324119587246
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+              0.2386682608741882,
+              1.047798627718066
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+              0.005246286599468075,
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+              0.24391454747365626,
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+              0.23139546480614803,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "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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+          }
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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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+              0.2429321042196458,
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+              0.2478571169997103,
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+            "held_shake_count": 5,
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+            "max_held_gripper_z_dist": 0.000485970021317117,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_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": 0.0053099952593619855,
+            "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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+                {
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+                  "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": {
+        "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",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13608538412519222,
+            "release_required_pad_clearance": 0.056475311065145764,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.307764437251095,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d6382b062547a36f1e9836e5d31ada0e30f346fdeb0e86240a1797bd59f34b8e",
+    "visual_seed": 4360567616083033183,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_26_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..642cc96ef445a727cb358430cd364d38722a740b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_26_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.24467062453435737,
+              1.0486505316420585
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+            "gripper_z": 1.0492122321860917,
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+              0.23959020645308216,
+              1.0492122321860917
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+              0.005080418081275212,
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+            "object_to_gripper_z": -0.0005617005440332612,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.32962091810056815,
+              0.21973264673040976,
+              1.0486505316420585
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+            "finger_b": [
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+              0.24467062453435737,
+              1.0486505316420585
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+            "finger_midpoint": [
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+              0.23220163563238355,
+              1.0486505316420585
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+              0.012468988901973815,
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+            "fingertip_z_max_dist": 0.1,
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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": {
+            "policy": {
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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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+                  "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
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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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+              0.24293174582694593,
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+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.00762981560678422,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0006735569567959399,
+            "max_held_gripper_z_dist": 0.000778844277897095,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08826576049205404,
+            "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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+            "held_grasp_object_position": [
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+              1.2390494619491301
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+            "held_grasp_finger_gap": 0.027731911607549148,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02529302237756041,
+            "held_grasp_world_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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+              -0.9991584442786575,
+              0.018251521816756155
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004743171436907252,
+            "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"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "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,
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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": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3376802814867349,
+              -0.34153906838003,
+              0.8470193640907333
+            ],
+            "target_position": [
+              0.3286553594376655,
+              -0.3447390189025251,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009575432175008908,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1883538540530802,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193640907333,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519349450277021,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0855667354812824,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1577705410208819,
+            "release_required_pad_clearance": 0.0527833677406412,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6142096082540557,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 158,
+            "max_placed_release_frames": 158
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "803745209c1d4d18b828b74bd8dbe4317d58ebe911ee5f037ffc52f58fecd460",
+    "visual_seed": 7416105761647870395,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_27_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b22412539c0952ee185e50403be0927451a899b0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_27_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 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": [
+              0.33474516440606206,
+              0.24267494419944388,
+              1.047807602610577
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+            "lift_margin": 0.19122109520201136,
+            "gripper_z": 1.0486893356977876,
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+            "gripper_position": [
+              0.3288747638590013,
+              0.23734757296831932,
+              1.0486893356977876
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+              0.005870400547060783,
+              0.005327371231124561,
+              -0.0008817330872106233
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+            "object_to_gripper_z": -0.0008817330872106233,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.33474516440606206,
+              0.2177003676171122,
+              1.047807602610577
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+            "finger_b": [
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+              1.047807602610577
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+            "finger_midpoint": [
+              0.3284680360468647,
+              0.23018765590827805,
+              1.047807602610577
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+              0.006277128359197359,
+              0.012487288291165827,
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+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04848699608547817,
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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": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "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": [
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+              0.2404076951436448,
+              1.2365832920764528
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+              0.24525402815185723,
+              1.2355501925058339
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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": 0.007978169867601663,
+            "max_held_gripper_dist": 0.007980271278149998,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010330995706189228,
+            "max_held_gripper_z_dist": 0.001141195063456335,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08795666922484516,
+            "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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+              0.21934464629239087,
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+            "held_grasp_midpoint": [
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+              0.23229933722212404,
+              1.2355501925058339
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+            "held_grasp_object_position": [
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+              0.24525402815185723,
+              1.2355501925058339
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+            "held_grasp_finger_gap": 0.027970994736806434,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02530489300147765,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05367862478404295,
+              -0.9985046160329986,
+              0.010350700560257995
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004568759829815416,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03198203408131079,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.33308131070380614,
+              -0.33985594688455345,
+              0.8470194078657026
+            ],
+            "target_position": [
+              0.324516689710278,
+              -0.34260991624497933,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008996503765405093,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1866085024783344,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194078657026,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526726975504003,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08507506482378106,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1558588364094029,
+            "release_required_pad_clearance": 0.05253753241189053,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.14264930411859883,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0ec1dfd52488b39af6f4e3d4b11cc2e526f750d2c72f339137237380b25a8e3a",
+    "visual_seed": 2190367588466450560,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_28_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..17232514da30e44e94427e34046b3526b7204812
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_28_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.22283413063796542,
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+            "fingertip_z_max_dist": 0.1,
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+              1.0
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+            "stable_success_frames": 226,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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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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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.23366442568834978,
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+              0.23845045638656429,
+              1.2401345095862395
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007761212640660322,
+            "max_held_gripper_dist": 0.00776334664438383,
+            "held_gripper_max_dist": 0.15,
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+            "max_held_gripper_z_dist": 0.0009959782518946803,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08822416661860383,
+            "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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+              1.2401345095862395
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+              0.22560160435192406,
+              1.2401345095862395
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+            "held_grasp_object_position": [
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+              0.23845045638656429,
+              1.2401345095862395
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+            "held_grasp_finger_gap": 0.027807240402360732,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025343723733456884,
+            "held_grasp_world_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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+              -0.9993757325018396,
+              0.015373624074730198
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004904667131437389,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": [
+              0.33253742711508477,
+              -0.34076782635034303,
+              0.8470196456889172
+            ],
+            "target_position": [
+              0.32395239725774116,
+              -0.3439746871157645,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009164425438633939,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18717883189430978,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196456889172,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545144249531688,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08722066925985865,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15588123608127386,
+            "release_required_pad_clearance": 0.053610334629929327,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2304447638011204,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d258e61b676cce0a89c30a9b4a24c3d597cfc291d2e5dce66e712fba27ad9418",
+    "visual_seed": 2990745142960357359,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_29_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f71b0fed338ca2ab527867e8555a56057fad0df
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_29_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.21454361788750143,
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+              0.22706810892892776,
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+              1.0
+            ],
+            "stable_success_frames": 223,
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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": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+          }
+        },
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+        "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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+            "virtual_attach_allowed": false,
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007654804022113112,
+            "max_held_gripper_dist": 0.0076574119890552,
+            "held_gripper_max_dist": 0.15,
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+            "max_held_gripper_z_dist": 0.001153357001015598,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0872943683481299,
+            "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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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02535413217652715,
+            "held_grasp_world_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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+              -0.9996605160898081,
+              0.015436409484636534
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005044378004279182,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": [
+              0.3396127389750257,
+              -0.33562422649190365,
+              0.8470194893079258
+            ],
+            "target_position": [
+              0.3303797169409769,
+              -0.3392703631555361,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00992688311863877,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18880093404565967,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194893079258,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753250261795468,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08619398954768064,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15794922018959942,
+            "release_required_pad_clearance": 0.05309699477384032,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2213951047876275,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 158,
+            "max_placed_release_frames": 158
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "420e48d599973df9c289d744bca454f7fbc39c17f551e4bf8ba7b2dcfc5bfe25",
+    "visual_seed": 6185096798082155592,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_2_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..818d29ebc7de4677aa239f0b179788be0f5eb915
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_2_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3327516619657867,
+              0.2451752660883413,
+              1.0505424487249506
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+            "gripper_z": 1.050461197891125,
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+              0.24013988055247057,
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+              0.00503538553587074,
+              8.125083382570786e-05
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+            "object_to_gripper_z": 8.125083382570786e-05,
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+              0.22066913442368094,
+              1.0505424487249506
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+            "finger_b": [
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+              1.0505424487249506
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+            "finger_midpoint": [
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+              0.23292220025601112,
+              1.0505424487249506
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04781518124955343,
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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": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "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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+              0.2433269605113904,
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+              1.2399638908702202
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007316395963680192,
+            "max_held_gripper_dist": 0.007317684182191409,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 4.972178558682039e-05,
+            "max_held_gripper_z_dist": 0.0001516212261598593,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08792242813689166,
+            "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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+              0.22227577817915423,
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+              0.23508293164133146,
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+            "held_grasp_object_position": [
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+              0.24789008510350868,
+              1.2399638908702202
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+            "held_grasp_finger_gap": 0.027513712886598696,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02471025454263361,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08131320291732412,
+              -0.9965947862161321,
+              0.013674615831835714
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0039687070715659235,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03202826750377616,
+            "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": [
+              0.33685282487530305,
+              -0.34409671460945446,
+              0.8470189724850122
+            ],
+            "target_position": [
+              0.328059703769815,
+              -0.34709543966562073,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009290389159677776,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18738109612369036,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470189724850122,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757511635077598,
+            "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": 0.15551255781883125,
+            "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": 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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "05454b3955b778277febb89cf1d006126dbbc68da674fc00e4bfd4f176005e4c",
+    "visual_seed": 8077695109996030531,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_30_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6064d902aeffa83c9a0a407473689fad2ed92e0d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_30_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.33323820763095063,
+              0.2371935253991029,
+              1.0477094570970638
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+            "gripper_z": 1.0477439691699293,
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+            "gripper_position": [
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+              0.23216727847136764,
+              1.0477439691699293
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+              0.005271902917315441,
+              0.005026246927735262,
+              -3.451207286553348e-05
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+            "object_to_gripper_z": -3.451207286553348e-05,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.33323820763095063,
+              0.21271918083532956,
+              1.0477094570970638
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+            "finger_b": [
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+              0.2371935253991029,
+              1.0477094570970638
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+              0.32712979488707605,
+              0.22495635311721623,
+              1.0477094570970638
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+              0.012237172281886671,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.010930693386949299,
+            "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": 0.5941019802307137,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
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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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+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.23506184199154667,
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+            "held_position": [
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+              0.23960048051867452,
+              1.2392068686136322
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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": 0.007284474605573701,
+            "max_held_gripper_dist": 0.007287633238727167,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00013785685748590737,
+            "max_held_gripper_z_dist": 0.0002330740247185048,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08791576435985751,
+            "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": [
+              0.3393205873030641,
+              0.21398135762217307,
+              1.2392068686136322
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+            "held_grasp_finger_b": [
+              0.32929230606078186,
+              0.23960048051867452,
+              1.2392068686136322
+            ],
+            "held_grasp_midpoint": [
+              0.334306446681923,
+              0.2267909190704238,
+              1.2392068686136322
+            ],
+            "held_grasp_object_position": [
+              0.3393205873030641,
+              0.23960048051867452,
+              1.2392068686136322
+            ],
+            "held_grasp_finger_gap": 0.02751192255478258,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024738864315048376,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07934822212723151,
+              -0.99670042201571,
+              0.01709176406791979
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003988116570604963,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03203506652071963,
+            "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": [
+              0.3383039659928821,
+              -0.33910037689975414,
+              0.8470194711788118
+            ],
+            "target_position": [
+              0.3303045979432729,
+              -0.34163636793920094,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008391730438071943,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18752933942953487,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194711788118,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548218397684175,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852786112927472,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15613906712977588,
+            "release_required_pad_clearance": 0.052639305646373605,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.33804078629342155,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7319320cc9e37bfbb6f6385d18ccce26534267ea398b5864722eac9da51207f1",
+    "visual_seed": 8699684718941157404,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_31_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..df71458d92a0a0038eab390f190be6a8c5cb88a2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_31_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3314338593561836,
+              0.23961053193587067,
+              1.0483142053697025
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+            "gripper_position": [
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+              0.23454351792591943,
+              1.0484728097736078
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+              0.005067014009951243,
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+            "object_to_gripper_z": -0.00015860440390524921,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3314338593561836,
+              0.2149167967131173,
+              1.0483142053697025
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+            "finger_b": [
+              0.31925260498882946,
+              0.23961053193587067,
+              1.0483142053697025
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+            "finger_midpoint": [
+              0.3253432321725065,
+              0.227263664324494,
+              1.0483142053697025
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012346867611376683,
+              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_tilt_deg": 1.9429275965428399,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/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": [
+              0.33160179263294143,
+              0.23757582037312103,
+              1.2401972591625987
+            ],
+            "held_position": [
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+              0.24219270197813558,
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007460542230398542,
+            "max_held_gripper_dist": 0.007462520165549708,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00026504199529142625,
+            "max_held_gripper_z_dist": 0.0003639365252474658,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08783430905673473,
+            "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": [
+              0.33745617965103053,
+              0.21650739853445683,
+              1.2399322171673073
+            ],
+            "held_grasp_finger_b": [
+              0.327240167480712,
+              0.24219270197813558,
+              1.2399322171673073
+            ],
+            "held_grasp_midpoint": [
+              0.33234817356587126,
+              0.2293500502562962,
+              1.2399322171673073
+            ],
+            "held_grasp_object_position": [
+              0.33745617965103053,
+              0.24219270197813558,
+              1.2399322171673073
+            ],
+            "held_grasp_finger_gap": 0.027642389868785804,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024897587168160616,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06866797149843823,
+              -0.9966438612193923,
+              0.04456145850385318
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004253806596861881,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032049918549191335,
+            "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": [
+              0.3316071830226453,
+              -0.34286300074728443,
+              0.8470198228029375
+            ],
+            "target_position": [
+              0.3259955317664301,
+              -0.3440915818470493,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0057445662447291185,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18611242561530986,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198228029375,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529722571387162,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08514454640837969,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15493892840973106,
+            "release_required_pad_clearance": 0.05257227320418985,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.20935557677140168,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e5a7254d06f4959552e2e2c3165cb167e8ef349724d87472e39ec4d4d71f6e43",
+    "visual_seed": 4513349169317163400,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_33_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b332d8b3e3b9379f6b5762eef32b0f9fea4ef0f8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_33_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3261780273622898,
+              0.23771273821030253,
+              1.0477683755522011
+            ],
+            "current_z": 1.0477683755522011,
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+            "lift_margin": 0.19118186814363558,
+            "gripper_z": 1.048097208504865,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.23265697530602436,
+              1.048097208504865
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+              0.005322882165514353,
+              0.0050557629042781715,
+              -0.00032883295266383783
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+            "object_to_gripper_xy": 0.0073412405690200635,
+            "object_to_gripper_z": -0.00032883295266383783,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3261780273622898,
+              0.21321348477979046,
+              1.0477683755522011
+            ],
+            "finger_b": [
+              0.313900449904175,
+              0.23771273821030253,
+              1.0477683755522011
+            ],
+            "finger_midpoint": [
+              0.32003923863323236,
+              0.2254631114950465,
+              1.0477683755522011
+            ],
+            "object_minus_finger_midpoint": [
+              0.006138788729057432,
+              0.012249626715256035,
+              0.0
+            ],
+            "finger_gap": 0.027403509390084808,
+            "fingertip_max_gap": 0.09408311180990023,
+            "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": 1.0477683755522011,
+            "object_top_z": 1.0950023289336794,
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+            "fingertip_min_top_clearance": 0.014170186014443519,
+            "object_projection_between_fingers": 0.799269670201589,
+            "object_to_finger_line_xy": 0.010976385446746069,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049541555904950116,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4048888374770523,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": "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": [
+              0.3264229536753277,
+              0.23580047825711664,
+              1.240273030827782
+            ],
+            "held_position": [
+              0.3321602222493997,
+              0.24037155028813273,
+              1.2398367324297341
+            ],
+            "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": 0.007348558123598846,
+            "max_held_gripper_dist": 0.007351117349475069,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0004362983980479296,
+            "max_held_gripper_z_dist": 0.0005297245834203768,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0879050879585011,
+            "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": [
+              0.3321602222493997,
+              0.21475539984764155,
+              1.2398367324297341
+            ],
+            "held_grasp_finger_b": [
+              0.32203252249911796,
+              0.24037155028813273,
+              1.2398367324297341
+            ],
+            "held_grasp_midpoint": [
+              0.3270963723742588,
+              0.22756347506788716,
+              1.2398367324297341
+            ],
+            "held_grasp_object_position": [
+              0.3321602222493997,
+              0.24037155028813273,
+              1.2398367324297341
+            ],
+            "held_grasp_finger_gap": 0.027545552556115706,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024712316112276957,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0796085399037765,
+              -0.9961905697447732,
+              0.0355925431231513
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040546694051964306,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032037815519968524,
+            "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": [
+              0.3354191032328512,
+              -0.34342319771307844,
+              0.8470196084177547
+            ],
+            "target_position": [
+              0.32865605197959835,
+              -0.34511183641403653,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006970678798832871,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18391014307511636,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196084177547,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752787294689295,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08584395027295615,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15296682942362277,
+            "release_required_pad_clearance": 0.052921975136478075,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8820372776960376,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "19b1b313eafc27db5ed9ffcb8cb2750c867b4d9315eaa9e8cbb97ddf299f39bb",
+    "visual_seed": 4952623589400614119,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_34_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..122b2bacbf2b84dfa50a2f3bbd40c505b15305ef
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_34_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3276049870720159,
+              0.24528122222326618,
+              1.0490677995785078
+            ],
+            "current_z": 1.0490677995785078,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19248123256529748,
+            "gripper_z": 1.049250876393523,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32231672887985513,
+              0.24026768863227643,
+              1.049250876393523
+            ],
+            "object_minus_gripper": [
+              0.005288258192160777,
+              0.005013533590989744,
+              -0.00018307681501528172
+            ],
+            "object_to_gripper_xy": 0.007287056591995021,
+            "object_to_gripper_z": -0.00018307681501528172,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3276049870720159,
+              0.2207612889263959,
+              1.0490677995785078
+            ],
+            "finger_b": [
+              0.3154475276598774,
+              0.24528122222326618,
+              1.0490677995785078
+            ],
+            "finger_midpoint": [
+              0.32152625736594664,
+              0.23302125557483105,
+              1.0490677995785078
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060787297060692635,
+              0.012259966648435122,
+              0.0
+            ],
+            "finger_gap": 0.027368429773020647,
+            "fingertip_max_gap": 0.09234481309296941,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013684214886510313,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0490677995785078,
+            "object_top_z": 1.0953432652378778,
+            "finger_top_clearance": 0.04627546565937002,
+            "fingertip_min_top_clearance": 0.013882639697811006,
+            "object_projection_between_fingers": 0.8026732811175025,
+            "object_to_finger_line_xy": 0.010892115343018583,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048672406546484706,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8155142989539604,
+            "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"
+              ],
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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": [
+                {
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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": [
+              0.3279829041887985,
+              0.243443507272617,
+              1.239955435861949
+            ],
+            "held_position": [
+              0.3336725031711436,
+              0.24799063944461178,
+              1.239662304795793
+            ],
+            "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": 0.007289298552771605,
+            "max_held_gripper_dist": 0.007291193626510777,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0002931310661558051,
+            "max_held_gripper_z_dist": 0.00039196025376320165,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0878761606562499,
+            "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": [
+              0.3336725031711436,
+              0.22238469719136425,
+              1.239662304795793
+            ],
+            "held_grasp_finger_b": [
+              0.3236288961256222,
+              0.24799063944461178,
+              1.239662304795793
+            ],
+            "held_grasp_midpoint": [
+              0.3286506996483829,
+              0.235187668317988,
+              1.239662304795793
+            ],
+            "held_grasp_object_position": [
+              0.3336725031711436,
+              0.24799063944461178,
+              1.239662304795793
+            ],
+            "held_grasp_finger_gap": 0.027505241703382553,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02475152660445994,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07683081720599003,
+              -0.9967680505186706,
+              0.023462288734662377
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004034833239630482,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03205280312657755,
+            "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": [
+              0.33616617329431087,
+              -0.34216713163447854,
+              0.847019597695581
+            ],
+            "target_position": [
+              0.32777814965131197,
+              -0.34481265703129876,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008795325193574672,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1895419154383396,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019597695581,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531164247062222,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08580668103601018,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1584887043663373,
+            "release_required_pad_clearance": 0.05290334051800509,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8457981710510948,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 158,
+            "max_placed_release_frames": 158
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e5fc0b9503a7fe92cd73f0cae216ebcdbb43716f3d61aa68503b1b340aacf348",
+    "visual_seed": 5005171933415777871,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_35_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..547d99be15c5a852a22d1495f140378d2a7a9523
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_35_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.32845039182442404,
+              0.2417958140282613,
+              1.0507770582662956
+            ],
+            "current_z": 1.0507770582662956,
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+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19419055085773007,
+            "gripper_z": 1.0508610984769329,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32306762723611104,
+              0.23676108617131358,
+              1.0508610984769329
+            ],
+            "object_minus_gripper": [
+              0.005382764588312994,
+              0.005034727856947724,
+              -8.404021063723732e-05
+            ],
+            "object_to_gripper_xy": 0.007370389352450912,
+            "object_to_gripper_z": -8.404021063723732e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32845039182442404,
+              0.21717862747639483,
+              1.0507770582662956
+            ],
+            "finger_b": [
+              0.31630026365873587,
+              0.2417958140282613,
+              1.0507770582662956
+            ],
+            "finger_midpoint": [
+              0.32237532774157995,
+              0.22948722075232808,
+              1.0507770582662956
+            ],
+            "object_minus_finger_midpoint": [
+              0.006075064082844084,
+              0.012308593275933227,
+              0.0
+            ],
+            "finger_gap": 0.02745234941078896,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0966941961734156,
+            "finger_top_clearance": 0.04591713790711993,
+            "fingertip_min_top_clearance": 0.013775141372135946,
+            "object_projection_between_fingers": 0.8041143227697144,
+            "object_to_finger_line_xy": 0.010895314175415673,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04819502246703487,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.41719944196239406,
+            "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": [
+              0.32868027057038557,
+              0.24009988186778164,
+              1.2392535144525951
+            ],
+            "held_position": [
+              0.33443430626152043,
+              0.24470040043941288,
+              1.2390299510601264
+            ],
+            "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": 0.00737045985357969,
+            "max_held_gripper_dist": 0.007371622688802771,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0002235633924687619,
+            "max_held_gripper_z_dist": 0.00032198619579637544,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08789915132604742,
+            "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": [
+              0.33443430626152043,
+              0.21909661205942682,
+              1.2390299510601264
+            ],
+            "held_grasp_finger_b": [
+              0.3243021874394083,
+              0.24470040043941288,
+              1.2390299510601264
+            ],
+            "held_grasp_midpoint": [
+              0.3293682468504644,
+              0.23189850624941985,
+              1.2390299510601264
+            ],
+            "held_grasp_object_position": [
+              0.33443430626152043,
+              0.24470040043941288,
+              1.2390299510601264
+            ],
+            "held_grasp_finger_gap": 0.027535682508928447,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02472738204687533,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07828309693797193,
+              -0.9967492039874326,
+              0.019046812967519085
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040559049591591565,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032043360302434654,
+            "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": [
+              0.3331453867358157,
+              -0.33761073255976093,
+              0.8470195705530512
+            ],
+            "target_position": [
+              0.3245766458583675,
+              -0.3404423151046456,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009024476712438634,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18665839668710285,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195705530512,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531458658962022,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08603777122443333,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15583325243680404,
+            "release_required_pad_clearance": 0.05301888561221667,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0697146357175435,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2e31b5141d5ae2511486e1b0569fb496b618434bd67348c2bb20e6046d6a3728",
+    "visual_seed": 6527174336365791798,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_36_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1541b5b6d72ef495651c2b5a6e994ba1a9abf1d9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_36_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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,
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+              0.332818644607262,
+              0.24225267666617634,
+              1.048636792456452
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+            "lift_margin": 0.19205022544324157,
+            "gripper_z": 1.0486301847541806,
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+            "gripper_position": [
+              0.32752296777212664,
+              0.2372355423668202,
+              1.0486301847541806
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+              0.005295676835135377,
+              0.00501713429935613,
+              6.607702271343996e-06
+            ],
+            "object_to_gripper_xy": 0.007294918074931696,
+            "object_to_gripper_z": 6.607702271343996e-06,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.332818644607262,
+              0.21772757613321386,
+              1.048636792456452
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+            "finger_b": [
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+              0.24225267666617634,
+              1.048636792456452
+            ],
+            "finger_midpoint": [
+              0.32673691687320316,
+              0.2299901263996951,
+              1.048636792456452
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+              0.0060817277340588505,
+              0.012262550266481237,
+              0.0
+            ],
+            "finger_gap": 0.027375722914231872,
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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": 0.010896880024626408,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7588484685255377,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
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+                "desk",
+                "floor",
+                "ground",
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+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.33319900452207374,
+              0.2401798812460294,
+              1.2375730041943789
+            ],
+            "held_position": [
+              0.33890377710377123,
+              0.244729097896501,
+              1.2374393503367447
+            ],
+            "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": 0.00729778498556075,
+            "max_held_gripper_dist": 0.0072997671869799215,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00013365385763419724,
+            "max_held_gripper_z_dist": 0.0002323117430371724,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08786970169918779,
+            "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": [
+              0.33890377710377123,
+              0.2191041950182973,
+              1.2374393503367447
+            ],
+            "held_grasp_finger_b": [
+              0.3289401430506656,
+              0.244729097896501,
+              1.2374393503367447
+            ],
+            "held_grasp_midpoint": [
+              0.3339219600772184,
+              0.23191664645739915,
+              1.2374393503367447
+            ],
+            "held_grasp_object_position": [
+              0.33890377710377123,
+              0.244729097896501,
+              1.2374393503367447
+            ],
+            "held_grasp_finger_gap": 0.027493811141083686,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024728915307525138,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08075598968006763,
+              -0.9964345448509899,
+              0.024426787721545266
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0039436942209765,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03203114418327964,
+            "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": [
+              0.3404607772823027,
+              -0.3378415365383633,
+              0.8470196041562634
+            ],
+            "target_position": [
+              0.33244436418822815,
+              -0.3403445052650629,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008398079026877852,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18650420803836207,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196041562634,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514355773114645,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08614669683898728,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1560741826551764,
+            "release_required_pad_clearance": 0.05307334841949364,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1756821751381317,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 158,
+            "max_placed_release_frames": 158
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "991d497a5bfa3904b941a49333041904dcc42b1246ec3d6b7280518635485d04",
+    "visual_seed": 3689394495135963747,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_38_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9cfbb84bf53dd4829ae3a29d7ad06d9ea3fe2ec
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_38_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.32868417839754815,
+              0.24406124697682993,
+              1.0483245088850859
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+            "current_z": 1.0483245088850859,
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+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19173794187187554,
+            "gripper_z": 1.0485738988892674,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32332976628548094,
+              0.239027565676803,
+              1.0485738988892674
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+              0.0053544121120672195,
+              0.005033681300026932,
+              -0.00024939000418156
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+            "object_to_gripper_xy": 0.0073489915291890875,
+            "object_to_gripper_z": -0.00024939000418156,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32868417839754815,
+              0.21949467061193584,
+              1.0483245088850859
+            ],
+            "finger_b": [
+              0.3165032635765488,
+              0.24406124697682993,
+              1.0483245088850859
+            ],
+            "finger_midpoint": [
+              0.32259372098704847,
+              0.2317779587943829,
+              1.0483245088850859
+            ],
+            "object_minus_finger_midpoint": [
+              0.006090457410499683,
+              0.012283288182447033,
+              0.0
+            ],
+            "finger_gap": 0.027420637486546794,
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+            "finger_z_skew": 0.0,
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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",
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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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": [
+              0.3287436659659603,
+              0.2425218376867918,
+              1.2390460182494165
+            ],
+            "held_position": [
+              0.33446355426745444,
+              0.24713227309311,
+              1.2386880488221754
+            ],
+            "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": 0.007355363956205132,
+            "max_held_gripper_dist": 0.007358701085529468,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0003579694272410894,
+            "max_held_gripper_z_dist": 0.0004587258367929614,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08858528216807257,
+            "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": [
+              0.33446355426745444,
+              0.22158189329913774,
+              1.2386880488221754
+            ],
+            "held_grasp_finger_b": [
+              0.32420708657919894,
+              0.24713227309311,
+              1.2386880488221754
+            ],
+            "held_grasp_midpoint": [
+              0.3293353204233267,
+              0.23435708319612386,
+              1.2386880488221754
+            ],
+            "held_grasp_object_position": [
+              0.33446355426745444,
+              0.24713227309311,
+              1.2386880488221754
+            ],
+            "held_grasp_finger_gap": 0.0275321092010121,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024805236640435786,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06564899525725654,
+              -0.9971892255421217,
+              0.036108972353364736
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004303942206069702,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03212427984697039,
+            "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": [
+              0.3325966177758102,
+              -0.34351791995968195,
+              0.8470196426059247
+            ],
+            "target_position": [
+              0.32587793600157516,
+              -0.34548642876327085,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007001122173855042,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18631565327709423,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196426059247,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545876945853489,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08528926988835549,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1548312979980177,
+            "release_required_pad_clearance": 0.052644634944177746,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.34717730219607235,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e4b5377fd59e4fbd0f04b8518dfbe9bd579365a97f158cdd1470d760fb722c57",
+    "visual_seed": 1116193670607105961,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_39_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5dd24de020a60c3165517b5bf9f16533ffa7380c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_39_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3366393123681915,
+              0.23772917052217446,
+              1.0093737174754425
+            ],
+            "current_z": 1.0093737174754425,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1527872100668769,
+            "gripper_z": 1.048666297903885,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32968644110657364,
+              0.23128387664468184,
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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",
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+                "geometry",
+                "gripper",
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+                "joint1",
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+                "joint3",
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+                "left_inner_finger",
+                "lift2",
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+                "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",
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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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+            "last_frame": {
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3401480395751167,
+              0.2133594873015352,
+              1.2070099081359205
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+            "held_position": [
+              0.34756137830269523,
+              0.213701000749042,
+              1.1672711944684002
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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": 0.040425729263351626,
+            "max_held_gripper_dist": 0.04043700292798623,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.03973871366752024,
+            "max_held_gripper_z_dist": 0.039914887420461564,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09347908614730399,
+            "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": [
+              0.34741191443154634,
+              0.1893584529570934,
+              1.1941988361593405
+            ],
+            "held_grasp_finger_b": [
+              0.34756137830269523,
+              0.24043891407068807,
+              1.1908384021804561
+            ],
+            "held_grasp_midpoint": [
+              0.3474866463671208,
+              0.21489868351389074,
+              1.1925186191698982
+            ],
+            "held_grasp_object_position": [
+              0.34756137830269523,
+              0.213701000749042,
+              1.1672711944684002
+            ],
+            "held_grasp_finger_gap": 0.05119109652618,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.04391640582824952,
+            "held_grasp_world_z_skew": 0.003360433978884414,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.5154858400153329,
+              -0.8526061344749187,
+              0.08565703823634917
+            ],
+            "held_grasp_object_projection_between_fingers": 0.4593198501949821,
+            "held_grasp_object_to_finger_line_xy": 0.025225683993083694,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.04402023376066455,
+            "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": [
+              0.3465767892655008,
+              -0.3325504554504237,
+              0.8470196142225445
+            ],
+            "target_position": [
+              0.3317175482122771,
+              -0.33878767959881556,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.01611521050917704,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1906685607754645,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196142225445,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757116859562232,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09086580485569744,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15928054015419144,
+            "release_required_pad_clearance": 0.05543290242784872,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.997834314411269,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 170,
+            "max_placed_release_frames": 170
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9922f61e9f18f22f248d52409cd170c1d668b6a5703ab6cb30a65036e003a699",
+    "visual_seed": 265019662481603953,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_43_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..93542b8db941f58223896bd7a37f525fb49628fa
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_43_success.json
@@ -0,0 +1,686 @@
+{
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+  "success": true,
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+  "step_accuracy": "3/3",
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+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4c62346f158f8a40af05c4ed696720b1e10771550d67974cf5409a2289fe1ec2",
+    "visual_seed": 8263121615766009829,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_46_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f405f0186cd9a061df9cc86024328cc8aa73e08a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_46_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              1.0474677989643477
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+              0.23010021446780232,
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+              0.0,
+              1.0
+            ],
+            "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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+              "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"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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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+            },
+            "failed_keys": []
+          }
+        },
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+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.24024287925363869,
+              1.2390414783198929
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+              0.24504676833329259,
+              1.2379123389503264
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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": 0.007953565179185282,
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+            "max_held_gripper_z_dist": 0.0012361439412618136,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08793678469669303,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.2321168837743044,
+              1.2379123389503264
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+              0.24504676833329259,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.998503398166973,
+              0.01049966073208397
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+            "held_grasp_object_to_finger_line_xy": 0.004613035899746387,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+        },
+        "gripper": null,
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+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "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": 0.15541298363703696,
+            "release_required_pad_clearance": 0.05349509302772813,
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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": 1.9995092276312254,
+            "object_max_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"
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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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+                "table",
+                "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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "046fd9db14b92a15eb61afd482f469be8fd7ba666eb948a3eef2fc12f01876a5",
+    "visual_seed": 1856342167012551863,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_47_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cf820b73133cc8e1bd924a05f949fa6fdf3dbf9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_47_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+              1.0
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+            "stable_success_frames": 224,
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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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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 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"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+            },
+            "failed_keys": []
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_min_pad_clearance": 0.15490895046638792,
+            "release_required_pad_clearance": 0.052694053221735135,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4423463687025696,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3d09363062fbc8dca44fbf060e53ee8845ad423803d6776deaba86ca0bed30c2",
+    "visual_seed": 2646967580612130561,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_48_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f258409f4300be1bfd6369190181efbd9e957a3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_48_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.2377197950236134,
+              1.0480015881258566
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+            "lift_margin": 0.19141508071729096,
+            "gripper_z": 1.0494646660906353,
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+            "gripper_position": [
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+              0.23263180177649673,
+              1.0494646660906353
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+              0.005087993247116673,
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+            "object_to_gripper_z": -0.0014630779647786252,
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+              0.21273053706443645,
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+              1.0480015881258566
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+              0.22522516604402493,
+              1.0480015881258566
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+              0.012494628979588474,
+              0.0
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+            "finger_gap": 0.027722797050143983,
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+            "fingertip_z_max_dist": 0.1,
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+              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",
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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"
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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": [
+              0.332123595160215,
+              0.2361209311756725,
+              1.2369997487399207
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+            "held_position": [
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+              0.2408644973175589,
+              1.235399694957159
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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": 0.007758749139791107,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0016000537827616235,
+            "max_held_gripper_z_dist": 0.0017008083115093164,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0882227081741829,
+            "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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+              0.21521103618104181,
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+              0.22803776674930037,
+              1.235399694957159
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+              0.2408644973175589,
+              1.235399694957159
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+            "held_grasp_finger_gap": 0.0277036645025505,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025348629056856895,
+            "held_grasp_world_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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+              -0.9995100856494449,
+              0.014097859518375274
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+            "held_grasp_object_projection_between_fingers": 0.5,
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
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+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "place",
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+          "metrics": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15570111030643868,
+            "release_required_pad_clearance": 0.05389945887500382,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.806932476820857,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "27f110a56d84469a0cd90eb36a312276ceb1ab81c5f3fe02fce44a459c069c49",
+    "visual_seed": 7897217959910434588,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_49_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac087b4a92bbc809236ca119ea06a76fa0c07564
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_49_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "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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+              0.24535897291207592,
+              1.0478894830703587
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+            "lift_margin": 0.19130291605714833,
+            "gripper_z": 1.048898641303963,
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+            "gripper_position": [
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+              0.24016521064503665,
+              1.048898641303963
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+              0.00519376226703927,
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+            "object_to_gripper_xy": 0.007931318506632068,
+            "object_to_gripper_z": -0.001009158233604257,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3359758438506872,
+              0.22017864262296005,
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+            "finger_b": [
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+              0.24535897291207592,
+              1.0478894830703587
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+            "finger_midpoint": [
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+              0.232768807767518,
+              1.0478894830703587
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+              0.012590165144557935,
+              0.0
+            ],
+            "finger_gap": 0.027982107157625783,
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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": 0.010982474969062732,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04867940759618976,
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+            "object_tilt_deg": 0.9940253477403678,
+            "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": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.24377769654213527,
+              1.2363632403705789
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+            "held_position": [
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+              0.2486584645931751,
+              1.2352119873949825
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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": 0.00799846134078944,
+            "max_held_gripper_dist": 0.008000009968675658,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001151252975596373,
+            "max_held_gripper_z_dist": 0.00126581724071273,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08733396570110175,
+            "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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+              0.22290410367540012,
+              1.2352119873949825
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+              0.3361121832657762,
+              0.23578128413428762,
+              1.2352119873949825
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+            "held_grasp_object_position": [
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+              0.2486584645931751,
+              1.2352119873949825
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+            "held_grasp_finger_gap": 0.027934518334556648,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02536912442045599,
+            "held_grasp_world_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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+              -0.9992942112250862,
+              0.016124916127515095
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004973882092812939,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+        },
+        "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": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+            "object_z": 0.8470192580340793,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
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+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751371487905942,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08515940418341349,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15551378137919714,
+            "release_required_pad_clearance": 0.052579702091706745,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.22381112220027263,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1d9567b7866531c9b1d55601394f1fce52fb5ffd8a2a4b5646f5595b543c1a10",
+    "visual_seed": 1757815582955207811,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_4_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..242a8fdc13f6bbbc43ffb15ca686096b90b64370
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_4_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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,
+            "object_position": [
+              0.33055658097508556,
+              0.24156702973548447,
+              1.0507545984964117
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+            "current_z": 1.0507545984964117,
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+            "lift_margin": 0.1941680314832014,
+            "gripper_z": 1.051003121128696,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.23653385319921935,
+              1.051003121128696
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+              0.005380886379288297,
+              0.005033176536265116,
+              -0.0002485226322843648
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+            "object_to_gripper_z": -0.0002485226322843648,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.33055658097508556,
+              0.21693600306741612,
+              1.0507545984964117
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+            "finger_b": [
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+              0.24156702973548447,
+              1.0507545984964117
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+              0.2292515164014503,
+              1.0507545984964117
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+              0.012315513334034162,
+              0.0
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049802082516307175,
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+            "object_upright_reference_source": "scene_initial",
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+              1.0
+            ],
+            "stable_success_frames": 226,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "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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+      },
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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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+              0.23937428980100428,
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+              0.2439364806288904,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007371453107639959,
+            "max_held_gripper_dist": 0.0073727030314619905,
+            "held_gripper_max_dist": 0.15,
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+            "max_held_gripper_z_dist": 0.0004824592002394823,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08796814440463518,
+            "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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+              0.2182514991796294,
+              1.2397261423331758
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+              0.2310939899042599,
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+            "held_grasp_object_position": [
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+              0.2439364806288904,
+              1.2397261423331758
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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": 0.024739194091987327,
+            "held_grasp_world_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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+              -0.9955730239229341,
+              0.0435490389765919
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0039489125980453,
+            "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": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3345758664022434,
+              -0.34318050310428694,
+              0.8470197558721804
+            ],
+            "target_position": [
+              0.3286654289643378,
+              -0.3445196280092178,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006060241432352522,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1842235347685656,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197558721804,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588944242880213,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08552128175329608,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1517841369160489,
+            "release_required_pad_clearance": 0.05276064087664804,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5706104176242264,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7ac985226e6a3f028fa99120d1b1f55368d2f8544e3e65ca8c569290be6c396f",
+    "visual_seed": 8004792274180137669,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_50_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eda7ff5e6f150ffe0f70f07ac1a254382ce29261
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_50_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3270751724809274,
+              0.2382228090211024,
+              1.047688665031397
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+            "gripper_z": 1.0479841986642826,
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+            "gripper_position": [
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+              0.23315315960138022,
+              1.0479841986642826
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+              0.00533576360404725,
+              0.005069649419722183,
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+            "object_to_gripper_xy": 0.00736014391687858,
+            "object_to_gripper_z": -0.00029553363288559176,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3270751724809274,
+              0.21370999967856327,
+              1.047688665031397
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+            "finger_b": [
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+              0.2382228090211024,
+              1.047688665031397
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+            "finger_midpoint": [
+              0.3209302568332384,
+              0.22596640434983284,
+              1.047688665031397
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+            "object_minus_finger_midpoint": [
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+              0.012256404671269566,
+              0.0
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+            "fingertip_min_top_clearance": 0.013807244856029776,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_tilt_deg": 0.7067510147041702,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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"
+                }
+              ],
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+              "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": [
+              0.3273750684157126,
+              0.23597444510296195,
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+            "held_position": [
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+              0.24054063825838096,
+              1.239766287871212
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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": 0.007366301663566594,
+            "max_held_gripper_dist": 0.007368916345674203,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0004022410817203781,
+            "max_held_gripper_z_dist": 0.0004960861338281219,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08798689518600433,
+            "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": [
+              0.33314139154039485,
+              0.2148767877783921,
+              1.239766287871212
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+              0.24054063825838096,
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+              0.32810501978800855,
+              0.22770871301838652,
+              1.239766287871212
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+            "held_grasp_object_position": [
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+              0.24054063825838096,
+              1.239766287871212
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+            "held_grasp_finger_gap": 0.027569791133995967,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024748713988523546,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08173979764918737,
+              -0.9964232773377236,
+              0.02143030237351151
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003980456486469277,
+            "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": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": [
+              0.33440495618733057,
+              -0.34323786736404016,
+              0.8470194999153491
+            ],
+            "target_position": [
+              0.32517144343343124,
+              -0.3463263687250089,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00973635447347349,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18778249634365105,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194999153491,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524438542666737,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08572276138815414,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15722595125450117,
+            "release_required_pad_clearance": 0.05286138069407707,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7651459530214688,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f08985eb947372c466b3aa439446f52c8e649859e3c4a45bacddb6cd34c8701f",
+    "visual_seed": 1515324745966873635,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_52_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc98c3f460502b689b44197f0883387f5e199665
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_52_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3319692087433129,
+              0.24691791827423193,
+              1.0485245123812397
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+            "gripper_z": 1.0486141163897853,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32656208314526347,
+              0.2419384014142303,
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+              0.005407125598049456,
+              0.004979516860001643,
+              -8.960400854562955e-05
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+            "object_to_gripper_z": -8.960400854562955e-05,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3319692087433129,
+              0.22217760861994693,
+              1.0485245123812397
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+            "finger_b": [
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+              0.24691791827423193,
+              1.0485245123812397
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+            "finger_midpoint": [
+              0.32599930102932506,
+              0.23454776344708944,
+              1.0485245123812397
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+              0.012370154827142488,
+              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": 0.04932289770430283,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3445718495584553,
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+              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": [],
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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": [
+              0.33231883039757876,
+              0.2447676594612681,
+              1.2406842271997238
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+              0.2493221532673067,
+              1.240489062816389
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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": 0.007351163179527789,
+            "max_held_gripper_dist": 0.007351940991938514,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00019516438333488928,
+            "max_held_gripper_z_dist": 0.00029740175939974023,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08791328741845628,
+            "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": [
+              0.33808581376206653,
+              0.22364468504592647,
+              1.240489062816389
+            ],
+            "held_grasp_finger_b": [
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+              0.2493221532673067,
+              1.240489062816389
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+            "held_grasp_midpoint": [
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+              0.23648341915661658,
+              1.240489062816389
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+            "held_grasp_object_position": [
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+              0.2493221532673067,
+              1.240489062816389
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+            "held_grasp_finger_gap": 0.027573188873545974,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024842440897608866,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07442347090428318,
+              -0.9966012267711581,
+              0.035314894545818154
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004080227985013369,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03203124908481025,
+            "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": [
+              0.3347240632786629,
+              -0.34405547931590313,
+              0.8470195107306405
+            ],
+            "target_position": [
+              0.3274047165273868,
+              -0.3460478695021706,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007585674361568053,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18567699845777427,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195107306405,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517956118915449,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08582048023270399,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1550457244274132,
+            "release_required_pad_clearance": 0.052910240116351995,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8568290222975528,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3ff67b13175339bdd8a38a5c61678b31c45096aa12810fa8003c1f7f7963c24b",
+    "visual_seed": 5682618854892307243,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_53_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..acbcbfb5300b297b2765abd0582097e0355ab567
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_53_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.24167708724051168,
+              1.0492050794766739
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+            "gripper_z": 1.049262636433073,
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+              0.2366564403573519,
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+              0.005020646883159785,
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+            "object_to_gripper_z": -5.7556956399196224e-05,
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+              0.21701637475471725,
+              1.0492050794766739
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+              0.24167708724051168,
+              1.0492050794766739
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+              0.22934673099761446,
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+            "object_to_finger_line_xy": 0.0108531596926082,
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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": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "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": {
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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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+              0.23982820138158073,
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+            "held_position": [
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+              0.24441660900688567,
+              1.2385473575220072
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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": 0.007372442797493457,
+            "max_held_gripper_dist": 0.007373857439340014,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00019094635800498416,
+            "max_held_gripper_z_dist": 0.00029239919067336473,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08792536970051054,
+            "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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+              0.21878514772077293,
+              1.2385473575220072
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+              0.2316008783638293,
+              1.2385473575220072
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+            "held_grasp_object_position": [
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+              0.24441660900688567,
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+            "held_grasp_finger_gap": 0.027549484932888845,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024855108648761684,
+            "held_grasp_world_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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+              -0.9970604321920443,
+              0.032447614529678814
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004169460615185983,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0320716634225464,
+            "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": [
+              0.33316831478968867,
+              -0.3394931999657501,
+              0.8470195925382846
+            ],
+            "target_position": [
+              0.32721790180612,
+              -0.34087561305046593,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006108885382114834,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18634541499084142,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195925382846,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555813150929408,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08501686718792932,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15449139413134444,
+            "release_required_pad_clearance": 0.05250843359396466,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.08846925511449732,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e6e01681314be40045d18a4da88607cf31d0725fdf1f802e48ced1e40d867d6c",
+    "visual_seed": 9194347055770966121,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_55_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..941aaf6dc5ba5519d15a605f9f53222d9b864a45
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_55_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              1.0025641011956563
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+              0.22870890690107962,
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+              0.20867086118802422,
+              1.0365214439499473
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+              1.0365973799977346
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+              0.2229146475338734,
+              1.0365594119738408
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+              -0.03399531077818452
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
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+            "stable_success_frames": 193,
+            "max_stable_success_frames": 193,
+            "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": [],
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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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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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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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+              0.22100544356018223,
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+            "held_position": [
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.04909168093172189,
+            "max_held_gripper_dist": 0.0491056319329081,
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+            "max_held_gripper_z_dist": 0.04844614555683191,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08962620920035361,
+            "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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+              0.19711679847511285,
+              1.1830868959984975
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+              0.2156780266004793,
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+            "held_grasp_object_position": [
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+              0.22671383098018477,
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+            "held_grasp_finger_gap": 0.03744309923801436,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.033406547804791055,
+            "held_grasp_world_z_skew": 0.001553827408282693,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.33528382789790795,
+              -0.9381680588976454,
+              0.08617103930178738
+            ],
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+            "held_grasp_object_to_finger_line_xy": 0.03324337844292451,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03111403185945524,
+            "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": [
+              0.33621808331749165,
+              -0.33956878542849656,
+              0.847019601752456
+            ],
+            "target_position": [
+              0.3307543174430346,
+              -0.33987672927302714,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005472437020401964,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18477669542451544,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019601752456,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532233766873309,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08639053986492594,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15340215869347282,
+            "release_required_pad_clearance": 0.05319526993246297,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4127505920698962,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8b300bb29f214bdc913ef0e0af1c1fc358444c571ecf6f08e4584d655b05542e",
+    "visual_seed": 6762832171314362594,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_56_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..13e4216891220c0997246c5a0c64302b2c3d142e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_56_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.3324566266798169,
+              0.23573839855411535,
+              1.0509658963299033
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+              0.2307445186241539,
+              1.051079120980536
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+              0.004993879929961448,
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+            "object_to_gripper_z": -0.0001132246506325707,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3324566266798169,
+              0.21136475969489896,
+              1.0509658963299033
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+            "finger_b": [
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+              0.23573839855411535,
+              1.0509658963299033
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+            "finger_midpoint": [
+              0.3263494234131475,
+              0.22355157912450715,
+              1.0509658963299033
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+            "object_minus_finger_midpoint": [
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+              0.012186819429608198,
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_tilt_deg": 1.1663068103246856,
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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": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
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+            "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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+              0.2333492701749491,
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+              0.2378151643023463,
+              1.2396567258589064
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007187809045334069,
+            "max_held_gripper_dist": 0.00718912685741542,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0002658213611201887,
+            "max_held_gripper_z_dist": 0.00035618449061125546,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08852767370996426,
+            "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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+              0.21215662761317733,
+              1.2396567258589064
+            ],
+            "held_grasp_finger_b": [
+              0.32917722798639176,
+              0.2378151643023463,
+              1.2396567258589064
+            ],
+            "held_grasp_midpoint": [
+              0.33401722058300864,
+              0.2249858959577618,
+              1.2396567258589064
+            ],
+            "held_grasp_object_position": [
+              0.33885721317962547,
+              0.2378151643023463,
+              1.2396567258589064
+            ],
+            "held_grasp_finger_gap": 0.02742376010635038,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024657417897792796,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09106325032783245,
+              -0.9953376968451388,
+              0.031786061076283456
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036750883191156757,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03199002510209323,
+            "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": [
+              0.3342646817164866,
+              -0.3371578828053994,
+              0.8470194635106276
+            ],
+            "target_position": [
+              0.3264142487678423,
+              -0.33947606159038246,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008185551316820729,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18754536430723298,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194635106276,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556515179947768,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08563994174137422,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1559022690501966,
+            "release_required_pad_clearance": 0.052819970870687113,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6852814113220825,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "84de4755f2eb78f3c2ae067e073b5be152ee475e7f0790f0608d63cf7675fe8f",
+    "visual_seed": 8162289279186116925,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_57_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7812354b553dd537339b0acaa4f6d40685d7e76c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_57_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 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": [
+              0.33478167966115796,
+              0.2375786567433175,
+              1.047726283140832
+            ],
+            "current_z": 1.047726283140832,
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+            "lift_margin": 0.1911397161276217,
+            "gripper_z": 1.0480779442066128,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32919065326921587,
+              0.2323406902929313,
+              1.0480779442066128
+            ],
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+              0.005591026391942089,
+              0.005237966450386183,
+              -0.00035166106578077283
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+            "object_to_gripper_xy": 0.007661322904744598,
+            "object_to_gripper_z": -0.00035166106578077283,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33478167966115796,
+              0.2129459138096825,
+              1.047726283140832
+            ],
+            "finger_b": [
+              0.32217287125286376,
+              0.2375786567433175,
+              1.047726283140832
+            ],
+            "finger_midpoint": [
+              0.3284772754570109,
+              0.2252622852765,
+              1.047726283140832
+            ],
+            "object_minus_finger_midpoint": [
+              0.006304404204147074,
+              0.012316371466817494,
+              0.0
+            ],
+            "finger_gap": 0.027672261814163567,
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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": 1.0942939601346786,
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+            "object_projection_between_fingers": 0.7923849772486871,
+            "object_to_finger_line_xy": 0.011223857966752716,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04901887824857544,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1055507665841584,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.23512522272279474,
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+            ],
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+              0.3409024793099346,
+              0.2398253941045761,
+              1.2369470778050415
+            ],
+            "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": 0.007670854423277952,
+            "max_held_gripper_dist": 0.007673727892655825,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0004870274588157919,
+            "max_held_gripper_z_dist": 0.0005881326021932587,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08796456793473961,
+            "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": [
+              0.3409024793099346,
+              0.21403369663910435,
+              1.2369470778050415
+            ],
+            "held_grasp_finger_b": [
+              0.33059823958484535,
+              0.2398253941045761,
+              1.2369470778050415
+            ],
+            "held_grasp_midpoint": [
+              0.33575035944738996,
+              0.22692954537184024,
+              1.2369470778050415
+            ],
+            "held_grasp_object_position": [
+              0.3409024793099346,
+              0.2398253941045761,
+              1.2369470778050415
+            ],
+            "held_grasp_finger_gap": 0.027773890877270495,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024868271565114317,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08049531085351501,
+              -0.996356078513132,
+              0.028196981053464014
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0041139679180695774,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03193664620347342,
+            "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": [
+              0.3343969026304258,
+              -0.3427705815137605,
+              0.8470194795016839
+            ],
+            "target_position": [
+              0.32660067734086773,
+              -0.3450918898730985,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00813446994368273,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18580132852455344,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194795016839,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578553118252425,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08564148957798016,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15361331855892707,
+            "release_required_pad_clearance": 0.052820744788990084,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6864225466872841,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "faaabc4738b17596b57c232d809b2e7cd9f5704e4ad20d90e47d68eb2702042a",
+    "visual_seed": 661743516815480091,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_58_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c687c05019308dcef1ed2d69998a6d1c8d304e68
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_58_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 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": [
+              0.33150409320216606,
+              0.24295422924723212,
+              1.0488184602869457
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+            "current_z": 1.0488184602869457,
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+            "lift_margin": 0.19223195287838013,
+            "gripper_z": 1.048838022664579,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3263002203247853,
+              0.23793345324571347,
+              1.048838022664579
+            ],
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+              0.005203872877380777,
+              0.005020776001518651,
+              -1.956237763334201e-05
+            ],
+            "object_to_gripper_xy": 0.007231077691559184,
+            "object_to_gripper_z": -1.956237763334201e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33150409320216606,
+              0.2185652441011096,
+              1.0488184602869457
+            ],
+            "finger_b": [
+              0.31924174264974176,
+              0.24295422924723212,
+              1.0488184602869457
+            ],
+            "finger_midpoint": [
+              0.3253729179259539,
+              0.23075973667417088,
+              1.0488184602869457
+            ],
+            "object_minus_finger_midpoint": [
+              0.006131175276212153,
+              0.012194492573061239,
+              0.0
+            ],
+            "finger_gap": 0.02729812882833409,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0488184602869457,
+            "object_top_z": 1.0954365734128986,
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+            "fingertip_min_top_clearance": 0.013985433937785863,
+            "object_projection_between_fingers": 0.7982183370446847,
+            "object_to_finger_line_xy": 0.010955559897908022,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04898240636016944,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.107573977218527,
+            "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": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": "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": [
+              0.33216328940012346,
+              0.2406512153466065,
+              1.2407046525405192
+            ],
+            "held_position": [
+              0.3378246895538361,
+              0.24514490752420837,
+              1.2405717930096396
+            ],
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0072292719372315265,
+            "max_held_gripper_dist": 0.007234076143547222,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00013285953087960323,
+            "max_held_gripper_z_dist": 0.00022869105606848628,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08862316027527734,
+            "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": [
+              0.3378246895538361,
+              0.21949178302737551,
+              1.2405717930096396
+            ],
+            "held_grasp_finger_b": [
+              0.32796184657830846,
+              0.24514490752420837,
+              1.2405717930096396
+            ],
+            "held_grasp_midpoint": [
+              0.3328932680660723,
+              0.23231834527579193,
+              1.2405717930096396
+            ],
+            "held_grasp_object_position": [
+              0.3378246895538361,
+              0.24514490752420837,
+              1.2405717930096396
+            ],
+            "held_grasp_finger_gap": 0.027483785547298988,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024679831442535535,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08756636035018502,
+              -0.9957260647825372,
+              0.029355347855273498
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003808593323611637,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.031996655982470666,
+            "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": [
+              0.3401337978301521,
+              -0.3439911974348119,
+              0.8470198502128417
+            ],
+            "target_position": [
+              0.3324836483057668,
+              -0.34610815357910935,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007937650222977244,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18765166023225602,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198502128417,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530837397245348,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08665787797026513,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15662072400316254,
+            "release_required_pad_clearance": 0.053328938985132565,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6748678239686945,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2fd42f383f10125ac98f7cfa4fa0159758ba769f13c9bfadea41447de0472f06",
+    "visual_seed": 2444188986540736808,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_59_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f37a24473405951edacc1ea32460e6d26ae02640
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_59_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.33048762180855,
+              0.24418619997969718,
+              1.0471425984876424
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+            "gripper_z": 1.0472528239252614,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3249137004464329,
+              0.23909384429898,
+              1.0472528239252614
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+              0.005573921362117096,
+              0.00509235568071717,
+              -0.00011022543761907144
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+            "object_to_gripper_z": -0.00011022543761907144,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.33048762180855,
+              0.21935005925599513,
+              1.0471425984876424
+            ],
+            "finger_b": [
+              0.3183547519160883,
+              0.24418619997969718,
+              1.0471425984876424
+            ],
+            "finger_midpoint": [
+              0.32442118686231913,
+              0.23176812961784615,
+              1.0471425984876424
+            ],
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+              0.006066434946230881,
+              0.012418070361851025,
+              0.0
+            ],
+            "finger_gap": 0.02764128104619855,
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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": 0.807331486157713,
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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": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "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",
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+                "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": [],
+            "disturbances": [],
+            "last_frame": {
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+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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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": [
+              0.33067470401931576,
+              0.2416049504054918,
+              1.2371068970343637
+            ],
+            "held_position": [
+              0.33663484874761496,
+              0.24623489065961687,
+              1.2368512423914846
+            ],
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007551491987380124,
+            "max_held_gripper_dist": 0.0075526126901232045,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00025565464287913287,
+            "max_held_gripper_z_dist": 0.00035640766635069987,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08805970661017806,
+            "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": [
+              0.33663484874761496,
+              0.22042659951971336,
+              1.2368512423914846
+            ],
+            "held_grasp_finger_b": [
+              0.326556966497917,
+              0.24623489065961687,
+              1.2368512423914846
+            ],
+            "held_grasp_midpoint": [
+              0.331595907622766,
+              0.23333074508966511,
+              1.2368512423914846
+            ],
+            "held_grasp_object_position": [
+              0.33663484874761496,
+              0.24623489065961687,
+              1.2368512423914846
+            ],
+            "held_grasp_finger_gap": 0.027706165418563425,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025058042733312733,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06756453722121634,
+              -0.9973132294639679,
+              0.02830822576980141
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004172011648986188,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03199029614878365,
+            "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": [
+              0.3315950370905698,
+              -0.3448969438000563,
+              0.8470189608234505
+            ],
+            "target_position": [
+              0.32470546160803015,
+              -0.346540703254857,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007082951042811048,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18814414983309732,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470189608234505,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527198155521629,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08539809185825135,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1570526609419578,
+            "release_required_pad_clearance": 0.05269904592912568,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4511054363300187,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "70657ea7323b62177375b8fb7ae9844911a2549085876231fe455dc393904d44",
+    "visual_seed": 3954904460909709397,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_5_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ab99a1389a632b6d9b9a95b6d43e798f48d0765
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_5_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.2354402484206955,
+              1.0466414722435637
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+            "current_z": 1.0466414722435637,
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+            "lift_margin": 0.19005496483499817,
+            "gripper_z": 1.0477697536842312,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.23024077270388124,
+              1.0477697536842312
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+              0.005769719491389991,
+              0.005199475716814256,
+              -0.0011282814406674557
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+            "object_to_gripper_xy": 0.007766866210967374,
+            "object_to_gripper_z": -0.0011282814406674557,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32727160139772776,
+              0.21043306572996218,
+              1.0466414722435637
+            ],
+            "finger_b": [
+              0.31503725617888606,
+              0.2354402484206955,
+              1.0466414722435637
+            ],
+            "finger_midpoint": [
+              0.3211544287883069,
+              0.22293665707532884,
+              1.0466414722435637
+            ],
+            "object_minus_finger_midpoint": [
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+              0.01250359134536666,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "fingertip_min_top_clearance": 0.01364784313923627,
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+            "object_to_finger_line_xy": 0.010989650743631773,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0485216688826562,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.290901485195327,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": [
+              0.32693397222266046,
+              0.23336400856025208,
+              1.236272102177383
+            ],
+            "held_position": [
+              0.33302343530936124,
+              0.23813748154058886,
+              1.2349937100782655
+            ],
+            "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": 0.007842314157019135,
+            "max_held_gripper_dist": 0.007850613769164107,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001278392099117509,
+            "max_held_gripper_z_dist": 0.00137645243371054,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0880677554287762,
+            "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": [
+              0.33302343530936124,
+              0.21232860499839076,
+              1.2349937100782655
+            ],
+            "held_grasp_finger_b": [
+              0.3226016000828081,
+              0.23813748154058886,
+              1.2349937100782655
+            ],
+            "held_grasp_midpoint": [
+              0.32781251769608466,
+              0.2252330432694898,
+              1.2349937100782655
+            ],
+            "held_grasp_object_position": [
+              0.33302343530936124,
+              0.23813748154058886,
+              1.2349937100782655
+            ],
+            "held_grasp_finger_gap": 0.02783366231489934,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02530107325675794,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.045936930928043546,
+              -0.9988741795696908,
+              0.011839415774827278
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004615202876326104,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03207094121248618,
+            "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": [
+              0.3352114668841129,
+              -0.3364102806353536,
+              0.8470194924013957
+            ],
+            "target_position": [
+              0.32661942816776984,
+              -0.3398395326357573,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009251102560528164,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18615071986252463,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194924013957,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571341267002957,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0867967578822678,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15448555059667132,
+            "release_required_pad_clearance": 0.0533983789411339,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8118048449287985,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3905fa0d592d57a46bff08008efd334dfc370f0bd30679ce50cd7618d096510d",
+    "visual_seed": 7049639731970847602,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_60_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb2d1344dba789f80a5f4f04d10e549f5a93e3e1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_60_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3343808857004133,
+              0.23405546292772686,
+              1.0483205873235626
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+            "current_z": 1.0483205873235626,
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+            "initial_z": 0.7565865074085654,
+            "lift_margin": 0.19173407991499725,
+            "gripper_z": 1.0483881465355833,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32886041791069553,
+              0.2289866689447763,
+              1.0483881465355833
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+              0.0055204677897177645,
+              0.00506879398295057,
+              -6.755921202072912e-05
+            ],
+            "object_to_gripper_xy": 0.007494547155025929,
+            "object_to_gripper_z": -6.755921202072912e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3343808857004133,
+              0.2092592134393847,
+              1.0483205873235626
+            ],
+            "finger_b": [
+              0.32228353667954424,
+              0.23405546292772686,
+              1.0483205873235626
+            ],
+            "finger_midpoint": [
+              0.3283322111899788,
+              0.22165733818355576,
+              1.0483205873235626
+            ],
+            "object_minus_finger_midpoint": [
+              0.006048674510434504,
+              0.012398124744171096,
+              0.0
+            ],
+            "finger_gap": 0.027589850344299272,
+            "fingertip_max_gap": 0.0934373794723263,
+            "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": 1.0483205873235626,
+            "object_top_z": 1.0950740638324787,
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+            "fingertip_min_top_clearance": 0.014026042952674844,
+            "object_projection_between_fingers": 0.8077431900876343,
+            "object_to_finger_line_xy": 0.010872436085214274,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049218689736163154,
+            "require_object_upright": true,
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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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+                "joint3",
+                "joint4",
+                "joint5",
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+                "joint7",
+                "left_inner_finger",
+                "lift2",
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+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_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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+                "desk",
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+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "source_missing": false,
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+            "last_frame": {
+              "passed": true,
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+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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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": [
+              0.33458846617796123,
+              0.23156844845871155,
+              1.2385531405905061
+            ],
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+              0.34048859729822206,
+              0.2361857183146983,
+              1.2383416575326724
+            ],
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007495028568526276,
+            "max_held_gripper_dist": 0.007499045057545761,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0002114830578336946,
+            "max_held_gripper_z_dist": 0.00030791342123004384,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08809512563898494,
+            "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": [
+              0.34048859729822206,
+              0.21042449989698958,
+              1.2383416575326724
+            ],
+            "held_grasp_finger_b": [
+              0.3304231285994314,
+              0.2361857183146983,
+              1.2383416575326724
+            ],
+            "held_grasp_midpoint": [
+              0.33545586294882673,
+              0.22330510910584395,
+              1.2383416575326724
+            ],
+            "held_grasp_object_position": [
+              0.34048859729822206,
+              0.2361857183146983,
+              1.2383416575326724
+            ],
+            "held_grasp_finger_gap": 0.027657802416157905,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024997874586017158,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06870494658800744,
+              -0.997213006729971,
+              0.029083492275002176
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004153266164069556,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03200974018346853,
+            "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": [
+              0.33355878267893696,
+              -0.33659526930696626,
+              0.847019513149476
+            ],
+            "target_position": [
+              0.324565512896753,
+              -0.3395033633618393,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009451767686900205,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1899095179524558,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019513149476,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557426609155411,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08599075039796343,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15827928577627434,
+            "release_required_pad_clearance": 0.05299537519898172,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0241097925704947,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "899a7570fb1023815415a69059d49b389fb7b9dc84c25926147e9e4321b805b9",
+    "visual_seed": 7613627007053872249,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_61_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3f7fd75216db0e9af7369b0c7be4337b3add4ca
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_61_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.24141180609390286,
+              1.0509722439039246
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+            "current_z": 1.0509722439039246,
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+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.1943856768907143,
+            "gripper_z": 1.0510560751308098,
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+            "gripper_position": [
+              0.32717264061847073,
+              0.23631367923558338,
+              1.0510560751308098
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+              0.005487028142819095,
+              0.005098126858319479,
+              -8.383122688515598e-05
+            ],
+            "object_to_gripper_xy": 0.0074898848658445484,
+            "object_to_gripper_z": -8.383122688515598e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33265966876128983,
+              0.2167456208430047,
+              1.0509722439039246
+            ],
+            "finger_b": [
+              0.32038579805524914,
+              0.24141180609390286,
+              1.0509722439039246
+            ],
+            "finger_midpoint": [
+              0.3265227334082695,
+              0.22907871346845377,
+              1.0509722439039246
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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",
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+                "geometry",
+                "gripper",
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+                "joint7",
+                "left_inner_finger",
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+                "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",
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+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "wheel",
+                "workbench"
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+            },
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+            "last_frame": {
+              "passed": true,
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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
+      },
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+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.332780307181203,
+              0.2395245983865129,
+              1.2412872756755258
+            ],
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+              0.3386458864599884,
+              0.24417819099378177,
+              1.2410754438117186
+            ],
+            "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": 0.007490381643726036,
+            "max_held_gripper_dist": 0.007491451087132208,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0002118318638071326,
+            "max_held_gripper_z_dist": 0.00031478511146865173,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08878973952523903,
+            "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": [
+              0.3386458864599884,
+              0.21852364883052888,
+              1.2410754438117186
+            ],
+            "held_grasp_finger_b": [
+              0.32836453199819654,
+              0.24417819099378177,
+              1.2410754438117186
+            ],
+            "held_grasp_midpoint": [
+              0.33350520922909244,
+              0.23135091991215534,
+              1.2410754438117186
+            ],
+            "held_grasp_object_position": [
+              0.3386458864599884,
+              0.24417819099378177,
+              1.2410754438117186
+            ],
+            "held_grasp_finger_gap": 0.027638049554466162,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024882662370039412,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06849316263414235,
+              -0.9973619755311931,
+              0.02403698061090076
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004261500952733564,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032054691297540294,
+            "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": [
+              0.33572941596785955,
+              -0.3357893355935532,
+              0.8470195375088075
+            ],
+            "target_position": [
+              0.3276234209874078,
+              -0.33843026116754,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008525352925858622,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18920978855113263,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195375088075,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544737986812534,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08576246474136211,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15792863196114032,
+            "release_required_pad_clearance": 0.052881232370681056,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8030769278590502,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "45acbfa193cc02dd3290608b5728b9c71b59efc05c7e7bb73dbdd67abb437f4f",
+    "visual_seed": 3031204320803459814,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_62_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..57828ca19ba1e736defc48cccd09d536243335af
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_62_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3290815675857526,
+              0.23716887256621919,
+              1.0486991400231678
+            ],
+            "current_z": 1.0486991400231678,
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+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+          }
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+    },
+    {
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+      "reason": "executed",
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+          "checker": "ShakeSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024663338406399383,
+            "held_grasp_world_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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+              -0.9959216009343943,
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+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03199397650733649,
+            "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": [
+              0.3360903029826894,
+              -0.3413826384100111,
+              0.8470193135484958
+            ],
+            "target_position": [
+              0.3281246380306878,
+              -0.34393277272000833,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008363910755536028,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18856363938782167,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193135484958,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574952757441968,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08516376295322035,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15646084738647517,
+            "release_required_pad_clearance": 0.05258188147661018,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.22727985679780272,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "951b8d671617a670293c55c6fb771c9fc8a37773c503ff16700fff45beb5157c",
+    "visual_seed": 1497418306876818457,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_65_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c4d7acdfcd05483383ed5d304ba9df0dd7dd751
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_65_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
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+            "required_stable_lift_frames": 5
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+          "failure_messages": {},
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+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+        "arm": null,
+        "checker": {
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+          "metrics": {
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+              "robot_prim_substrings": [
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+                "dummy_base_revolute_z_joint",
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+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "table",
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+            "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",
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+            "placed_release_frames": 154,
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+          "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"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
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+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
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+                "wheel",
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+      "physical_semantics": {
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+        "attach_allowed": false,
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+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
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+  "h5_episode_index": 65,
+  "reproducibility": {
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+    "action_seed": 575825182625704749,
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+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9e5088163bf471e9a88cab1471a1b2b998e6d67a5cdc21922beef8c7ea702f29",
+    "visual_seed": 7048246562407322702,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_68_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..30457320cec690bda5138470316a6bf38af097fb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_68_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              0.21735589451000303,
+              1.0488293955242647
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+              1.0488293955242647
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+              0.22983411661122702,
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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": {
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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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+                  "b": "/World/target_beaker/mesh"
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+            },
+            "failed_keys": []
+          }
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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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+              0.2399468520806624,
+              1.2388617875307792
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+              0.2447628643307987,
+              1.2380417830886283
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
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+            "held_gripper_z_dist": 0.0008200044421509123,
+            "max_held_gripper_z_dist": 0.0009287531518087366,
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+              0.23183064939064835,
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+              0.2447628643307987,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004689962587165223,
+            "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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+              "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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+            "failed_keys": []
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+        },
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "release_fingertip_min_gap": 0.08635770072879044,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1568493363975743,
+            "release_required_pad_clearance": 0.05317885036439522,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3802429299196302,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8473154354288b406fff169ae0dfc81967a9a22474360edf3f6b1e73ba2130bc",
+    "visual_seed": 4409947100350037329,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_6_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..446cabd75698a17ab43edbabbfca4265997b2bad
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_6_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              1.0475779445377742
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+              0.2364981339774551,
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+              0.00514278265507595,
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+            "object_to_gripper_z": -0.00035454555795366716,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.21697247618069473,
+              1.0475779445377742
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+              1.0475779445377742
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+              0.2293066964066129,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+        "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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+              0.23974348781336635,
+              1.2380560334493418
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+              0.24440975519301344,
+              1.2375796548287967
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007569148640464086,
+            "max_held_gripper_dist": 0.007573042524553495,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0004763786205450593,
+            "max_held_gripper_z_dist": 0.000578103375950656,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08794455400346152,
+            "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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+              0.21870546194039636,
+              1.2375796548287967
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+              0.2315576085667049,
+              1.2375796548287967
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+            "held_grasp_object_position": [
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+              0.24440975519301344,
+              1.2375796548287967
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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": 0.02485198969208643,
+            "held_grasp_world_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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+              -0.9966517803043491,
+              0.03421146831014232
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004214073018747914,
+            "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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+        "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": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08572834268953926,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1547266887569928,
+            "release_required_pad_clearance": 0.05286417134476963,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7702435733882917,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b6614b2fa4c166936916e6dc03cdf2f62e408fb264b4ad7c6e70c61d4d306261",
+    "visual_seed": 3444128389054625173,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_70_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..842d23e13e1b00b58e7b689d84051fa9926f183c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_70_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
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+          "metrics": {
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+              0.2373512115471545,
+              1.0478165979947793
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+            "gripper_z": 1.0479202964209158,
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+            "gripper_position": [
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+              0.23225309170384914,
+              1.0479202964209158
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+              0.005098119843305354,
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+            "object_to_gripper_z": -0.00010369842613644487,
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+              0.212913260174194,
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+              0.2373512115471545,
+              1.0478165979947793
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+            "finger_midpoint": [
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+              0.22513223586067427,
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+              0.012218975686480227,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "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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+              0.2351612982744561,
+              1.2383688944835562
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+            "held_position": [
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+              0.23973832686572819,
+              1.2381421667435428
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007362333205138138,
+            "max_held_gripper_dist": 0.007368801677082676,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00022672774001342155,
+            "max_held_gripper_z_dist": 0.000320650689415114,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.087855492295458,
+            "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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+              0.3366692575357936,
+              0.21408721660981855,
+              1.2381421667435428
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+              0.22691277173777336,
+              1.2381421667435428
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+            "held_grasp_object_position": [
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+              0.23973832686572819,
+              1.2381421667435428
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+            "held_grasp_finger_gap": 0.02755641845715114,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024686511907909492,
+            "held_grasp_world_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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+              -0.9961709965065925,
+              0.015464046005727039
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0039172137236485475,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08706652392124913,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15612280828364625,
+            "release_required_pad_clearance": 0.053533261960624565,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0770798876883165,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1b7e5d98af36c9803c98901a894702ec9580afab5566941265108176e4e61c0b",
+    "visual_seed": 5586343771090044273,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_72_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e50f86e820c3771c04ca8a7a4ee9b1b509af6702
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_72_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+          "metrics": {
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+              0.23933762022351535,
+              1.0497327590956833
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+              0.23437698987686387,
+              1.0497452140870367
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+              0.21467640576682448,
+              1.0497327590956833
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+              0.23933762022351535,
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+              0.2270070129951699,
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+              0.012330607228345447,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050116391556445136,
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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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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+            },
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+      },
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+        "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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+              0.23789176416835353,
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+              0.24247302927149614,
+              1.2393638340507065
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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": 0.00023844439816644858,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_required": true,
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+              0.22970776784390767,
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+              0.24247302927149614,
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+            "held_grasp_finger_gap": 0.027473557358053576,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024826029349925723,
+            "held_grasp_world_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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+              0.040177416046414886
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004298279729048792,
+            "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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+            "target": "heater_platform",
+            "object_position": [
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+            "xy_threshold": 0.08,
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+            "object_z": 0.8470195133081497,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521161397937118,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08542142282660496,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15387317104736117,
+            "release_required_pad_clearance": 0.05271071141330248,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.47477639506135266,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fac2b0d1bc8ce8f6914a375eee167ae94d940449e87c73d9142eca9067c88182",
+    "visual_seed": 6852513434715388042,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_73_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..69d78070bc52000cc3fd3e6e9ee308f788b68192
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_73_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.333801738995957,
+              0.23904801234788486,
+              1.0504464368869895
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+            "current_z": 1.0504464368869895,
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+            "lift_margin": 0.1938599294784239,
+            "gripper_z": 1.0510338370780234,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32802501782479654,
+              0.23389168017193884,
+              1.0510338370780234
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+              0.005776721171160459,
+              0.005156332175946021,
+              -0.0005874001910339821
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+            "object_to_gripper_xy": 0.007743272499275077,
+            "object_to_gripper_z": -0.0005874001910339821,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.333801738995957,
+              0.2140440111727417,
+              1.0504464368869895
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+            "finger_b": [
+              0.32162087315425236,
+              0.23904801234788486,
+              1.0504464368869895
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+            "finger_midpoint": [
+              0.3277113060751047,
+              0.22654601176031328,
+              1.0504464368869895
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+              0.006090432920852318,
+              0.012502000587571588,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010950573379892903,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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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",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "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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+              0.2373163206351147,
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+              0.24211469167341995,
+              1.2417148272191258
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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": 0.007765351068952377,
+            "max_held_gripper_dist": 0.007767035266328874,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0006899507473427935,
+            "max_held_gripper_z_dist": 0.0007956825552521973,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08825735723491587,
+            "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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+              0.21640884954128145,
+              1.2417148272191258
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+              0.2292617706073507,
+              1.2417148272191258
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+            "held_grasp_object_position": [
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+              0.24211469167341995,
+              1.2417148272191258
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+            "held_grasp_finger_gap": 0.02783746112507692,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025351479419158388,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.031665851101523625,
+              -0.9993750288629303,
+              0.015710682965215605
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00493618284632108,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032186187952638126,
+            "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"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3355741781316749,
+              -0.34144091956946643,
+              0.8470191472996429
+            ],
+            "target_position": [
+              0.3267019231123344,
+              -0.34474753460174706,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009468400715005487,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18932453279721065,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470191472996429,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546653854049663,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08748300522494616,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15800293940040508,
+            "release_required_pad_clearance": 0.05374150261247308,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4913676190397105,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "643c21160b1c6b5ffd85b739641ac757100bb4d04c41c2e91ceb954483067436",
+    "visual_seed": 2193063467010964129,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_74_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0821b5479db12b642711eb5c11efb092678fad2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_74_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3293972847415868,
+              0.2436081988400671,
+              1.0485888516797484
+            ],
+            "current_z": 1.0485888516797484,
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+            "lift_margin": 0.19200240387582757,
+            "gripper_z": 1.04882946493341,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32395870835057483,
+              0.23858269295761636,
+              1.04882946493341
+            ],
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+              0.005438576391011973,
+              0.005025505882450737,
+              -0.00024061325366164787
+            ],
+            "object_to_gripper_xy": 0.007404986329185206,
+            "object_to_gripper_z": -0.00024061325366164787,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3293972847415868,
+              0.2188941566577838,
+              1.0485888516797484
+            ],
+            "finger_b": [
+              0.3173349026048077,
+              0.2436081988400671,
+              1.0485888516797484
+            ],
+            "finger_midpoint": [
+              0.32336609367319724,
+              0.23125117774892545,
+              1.0485888516797484
+            ],
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+              0.006031191068389563,
+              0.012357021091141646,
+              0.0
+            ],
+            "finger_gap": 0.02750063533450393,
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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": 1.0951832726302744,
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+            "object_projection_between_fingers": 0.8076107900782126,
+            "object_to_finger_line_xy": 0.010840121230695825,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048957216877037926,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9455156957042923,
+            "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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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": [
+              0.3295121256863905,
+              0.24156923648389123,
+              1.2395090906779413
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+            "held_position": [
+              0.33530521563055027,
+              0.2461727667534118,
+              1.2391546580528972
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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": 0.007407968988137908,
+            "max_held_gripper_dist": 0.007409314740975725,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0003544326250441987,
+            "max_held_gripper_z_dist": 0.00045522054123336986,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0878528478730646,
+            "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": [
+              0.33530521563055027,
+              0.22053309788095143,
+              1.2391546580528972
+            ],
+            "held_grasp_finger_b": [
+              0.32512182422200464,
+              0.2461727667534118,
+              1.2391546580528972
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+            "held_grasp_midpoint": [
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+              0.23335293231718163,
+              1.2391546580528972
+            ],
+            "held_grasp_object_position": [
+              0.33530521563055027,
+              0.2461727667534118,
+              1.2391546580528972
+            ],
+            "held_grasp_finger_gap": 0.02758793360273751,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024880459316577824,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06785008581736106,
+              -0.9973375016954973,
+              0.0267258969234081
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042244288338887485,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03206905132654027,
+            "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": [
+              0.3369984338020309,
+              -0.33965230140246006,
+              0.8470195815848496
+            ],
+            "target_position": [
+              0.32778667158372826,
+              -0.3429272581189996,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00977659985177643,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1896158997167279,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195815848496,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575388152146924,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08619887944507275,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1576427950256158,
+            "release_required_pad_clearance": 0.053099439722536376,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.22651099190395,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ff9b36c51e648ca0e63d055631a085ce1b05c265640e965e6617d9183942e191",
+    "visual_seed": 6587976350072293881,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_75_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8ce47322d0aaec7da8fac3ab9fdb4043eaf49ba
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_75_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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,
+            "object_position": [
+              0.32712000538322533,
+              0.2367680508831689,
+              1.0497015087133514
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+            "gripper_position": [
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+              0.23174989146862413,
+              1.0501580268202872
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+              0.005018159414544782,
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+              0.32712000538322533,
+              0.21207073733805554,
+              1.0497015087133514
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+              0.2367680508831689,
+              1.0497015087133514
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+              0.22441939411061224,
+              1.0497015087133514
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+              0.012348656772556671,
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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,
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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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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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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+            },
+            "failed_keys": []
+          }
+        },
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+      "physical_semantics": {
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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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+              0.23478392908823514,
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+            "held_position": [
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+              0.23936920265933556,
+              1.2392323914699204
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0073944275144966695,
+            "max_held_gripper_dist": 0.007396200073912969,
+            "held_gripper_max_dist": 0.15,
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+            "max_held_gripper_z_dist": 0.0006865487837166562,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08792672877268809,
+            "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": [
+              0.3330551375682564,
+              0.2137277397627773,
+              1.2392323914699204
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+              0.23936920265933556,
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+              0.22654847121105642,
+              1.2392323914699204
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+            "held_grasp_object_position": [
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+              0.23936920265933556,
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+            "held_grasp_finger_gap": 0.02755176311854834,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024818651587480752,
+            "held_grasp_world_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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+              -0.9965766365821515,
+              0.038963656095380106
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004123201462409391,
+            "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": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": [
+              0.3367493933336694,
+              -0.3436492159827791,
+              0.8470194694166403
+            ],
+            "target_position": [
+              0.3301096492609703,
+              -0.345190492872969,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006816284604032898,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18424184256231865,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194694166403,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751388808263314,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08841636651757988,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15363664256144277,
+            "release_required_pad_clearance": 0.05420818325878994,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.4331483396735254,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e42c317d47040c28e53eefd9868b6ed18b1ddfa7b686988a36bb6f96e407c788",
+    "visual_seed": 564255983029781354,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_76_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..610d8804618c1cc1f67538ff6e0fb0e5c328e563
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_76_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.33156267600160183,
+              0.24141335661425814,
+              1.0509484266757596
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+              0.23627798584305157,
+              1.0512515701996303
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+              0.005135370771206571,
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+              0.21659175121772498,
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+              0.24141335661425814,
+              1.0509484266757596
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+              0.22900255391599156,
+              1.0509484266757596
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+              0.012410802698266582,
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_tilt_deg": 2.473468516695074,
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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": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "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"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.23904312629719654,
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+              0.24371609505621128,
+              1.242371918651478
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0076111908236394426,
+            "max_held_gripper_dist": 0.007612610711687555,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00041215263306182415,
+            "max_held_gripper_z_dist": 0.0005144013872546704,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08804720130248811,
+            "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": [
+              0.3377349243098236,
+              0.21792706148992735,
+              1.242371918651478
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+              0.24371609505621128,
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+              0.23082157827306932,
+              1.242371918651478
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+            "held_grasp_object_position": [
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+              0.24371609505621128,
+              1.242371918651478
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+            "held_grasp_finger_gap": 0.02776284286473202,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025010932400737478,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0665434860803768,
+              -0.9963565766803821,
+              0.05334357099052156
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0043276007415516205,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0320106179661814,
+            "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": [
+              0.33006112901864776,
+              -0.34584094166897433,
+              0.8470196814241893
+            ],
+            "target_position": [
+              0.3245802552387214,
+              -0.3468801494703498,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005578524020377046,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18627025980760326,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196814241893,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523283315630777,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08505519348180095,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15528923504597403,
+            "release_required_pad_clearance": 0.052527596740900476,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1251145141536824,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c755c382f2b08330079608848840c8114b81d142d27fdf31707d54b07160e9a6",
+    "visual_seed": 4451132111213134167,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_78_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d81bc150799f51e554f33e267442838be973b25
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_78_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.3287241136263565,
+              0.23752063053558697,
+              1.0483046213424718
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+            "gripper_z": 1.0486326065360134,
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+            "gripper_position": [
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+              0.23233411086578942,
+              1.0486326065360134
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+              0.005186519669797551,
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+            "object_to_gripper_z": -0.00032798519354160227,
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+              0.3287241136263565,
+              0.21261078820264873,
+              1.0483046213424718
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+            "finger_b": [
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+              0.23752063053558697,
+              1.0483046213424718
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+            "finger_midpoint": [
+              0.3225690494572595,
+              0.22506570936911785,
+              1.0483046213424718
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+              0.012454921166469124,
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+            "object_to_finger_line_xy": 0.011036053511014096,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049533040374962936,
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+            "object_tilt_deg": 1.3702749318316318,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              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": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "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": [
+              0.3286618635063945,
+              0.23500682798591754,
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+            "held_position": [
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+              0.23972566303966192,
+              1.236782721714648
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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": 0.0077329548650682724,
+            "max_held_gripper_dist": 0.007734201659326227,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0004841014034147051,
+            "max_held_gripper_z_dist": 0.000583438337589337,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08809030083947877,
+            "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": [
+              0.33476897677797773,
+              0.21387292152955764,
+              1.236782721714648
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+              0.3245000390213423,
+              0.23972566303966192,
+              1.236782721714648
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+            "held_grasp_midpoint": [
+              0.32963450789966,
+              0.22679929228460977,
+              1.236782721714648
+            ],
+            "held_grasp_object_position": [
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+              0.23972566303966192,
+              1.236782721714648
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+            "held_grasp_finger_gap": 0.027817536307838658,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025125868318423745,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0642683250275174,
+              -0.9974120438165681,
+              0.03223037771752013
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004313780840115991,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03197732337716811,
+            "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": [
+              0.33888510693124485,
+              -0.343002748656222,
+              0.8470198638339023
+            ],
+            "target_position": [
+              0.3305781785587281,
+              -0.34564459775432194,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008716904590693589,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18531587096364824,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198638339023,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578776081997547,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08671205549218484,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1532809401155336,
+            "release_required_pad_clearance": 0.053356027746092424,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7282277577948744,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "679b64130d2ec7d6ac66510ebe55819821778ff799c3e0874cdd551dcad11031",
+    "visual_seed": 2860849763691482216,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_79_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..de170760179f2a4399e970e936b0663892a5cf30
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_79_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.332920572696987,
+              0.23582250528333415,
+              1.0493548314954009
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+            "current_z": 1.0493548314954009,
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+            "gripper_z": 1.0494258814700739,
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+            "gripper_position": [
+              0.32754185334823244,
+              0.23085734607670538,
+              1.0494258814700739
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+              0.005378719348754557,
+              0.004965159206628766,
+              -7.104997467299867e-05
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+            "object_to_gripper_xy": 0.007320070203204136,
+            "object_to_gripper_z": -7.104997467299867e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.332920572696987,
+              0.21112963664614529,
+              1.0493548314954009
+            ],
+            "finger_b": [
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+              0.23582250528333415,
+              1.0493548314954009
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+            "finger_midpoint": [
+              0.3269450452669266,
+              0.2234760709647397,
+              1.0493548314954009
+            ],
+            "object_minus_finger_midpoint": [
+              0.005975527430060412,
+              0.012346434318594446,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.01075735847269885,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04905031351955809,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0705013868721875,
+            "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",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "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"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3331328862941047,
+              0.2339003171509978,
+              1.2384953490085568
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+            "held_position": [
+              0.3388577405064947,
+              0.23845796777270478,
+              1.2382881730776825
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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": 0.007320454685946717,
+            "max_held_gripper_dist": 0.007321255816373884,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00020717593087438146,
+            "max_held_gripper_z_dist": 0.00030173620931450706,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08791733126120357,
+            "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": [
+              0.3388577405064947,
+              0.21285361819782161,
+              1.2382881730776825
+            ],
+            "held_grasp_finger_b": [
+              0.32881099281257076,
+              0.23845796777270478,
+              1.2382881730776825
+            ],
+            "held_grasp_midpoint": [
+              0.3338343666595327,
+              0.2256557929852632,
+              1.2382881730776825
+            ],
+            "held_grasp_object_position": [
+              0.3388577405064947,
+              0.23845796777270478,
+              1.2382881730776825
+            ],
+            "held_grasp_finger_gap": 0.02750490604198069,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0248467266658125,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06829456038521964,
+              -0.9972081035761581,
+              0.030196873742691754
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004155831229253405,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032090723415846775,
+            "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": [
+              0.33738936083852283,
+              -0.339156701248169,
+              0.8470196840334298
+            ],
+            "target_position": [
+              0.32974822676796745,
+              -0.3416309701674344,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00803174554932146,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18732023304754025,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196840334298,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577981722785877,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0859617340583567,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15512306736255133,
+            "release_required_pad_clearance": 0.052980867029178355,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9954302571590512,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "691270093def0f0e73dfd6ce7481ae9219532232d062bb64d64d0613c78d4d36",
+    "visual_seed": 7828406716996092786,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_82_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..02260ca7d6ac9bf8943c549372404a0da0bc2f11
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_82_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3332034794703546,
+              0.240013266042739,
+              1.0496120091602037
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+            "current_z": 1.0496120091602037,
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+            "gripper_z": 1.0496573203670923,
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+            "gripper_position": [
+              0.3278853644600397,
+              0.23502379844081867,
+              1.0496573203670923
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+              0.005318115010314928,
+              0.004989467601920344,
+              -4.531120688855417e-05
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+            "object_to_gripper_xy": 0.007292265369111967,
+            "object_to_gripper_z": -4.531120688855417e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3332034794703546,
+              0.2154069919040383,
+              1.0496120091602037
+            ],
+            "finger_b": [
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+              0.240013266042739,
+              1.0496120091602037
+            ],
+            "finger_midpoint": [
+              0.3271851416392102,
+              0.22771012897338866,
+              1.0496120091602037
+            ],
+            "object_minus_finger_midpoint": [
+              0.006018337831144416,
+              0.01230313706935035,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010812357322968641,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0483932365347567,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6317858035730195,
+            "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",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
+        "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": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33356749985315925,
+              0.2380743146495274,
+              1.2398666661252706
+            ],
+            "held_position": [
+              0.33926152539777055,
+              0.2426242165989221,
+              1.2396935395558046
+            ],
+            "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": 0.007290645201958922,
+            "max_held_gripper_dist": 0.007292925013901176,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0001731265694659978,
+            "max_held_gripper_z_dist": 0.0002700774633515035,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0878739752362932,
+            "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": [
+              0.33926152539777055,
+              0.2170157417675179,
+              1.2396935395558046
+            ],
+            "held_grasp_finger_b": [
+              0.32925189965508184,
+              0.2426242165989221,
+              1.2396935395558046
+            ],
+            "held_grasp_midpoint": [
+              0.3342567125264262,
+              0.22981997918322,
+              1.2396935395558046
+            ],
+            "held_grasp_object_position": [
+              0.33926152539777055,
+              0.2426242165989221,
+              1.2396935395558046
+            ],
+            "held_grasp_finger_gap": 0.027495210322879143,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024743194030808026,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07798445919214968,
+              -0.9966930654443763,
+              0.02283325249718515
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004002060254651779,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03204803270014736,
+            "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": [
+              0.3331492059429568,
+              -0.3446740993721051,
+              0.8470195537670411
+            ],
+            "target_position": [
+              0.32467576151802835,
+              -0.34741102444692085,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008904494330814456,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18686115499551817,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195537670411,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549481774948864,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08540714366270073,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15541593436185347,
+            "release_required_pad_clearance": 0.05270357183135037,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4613998049711842,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0568bbe06f31b22e2c6ef985c53c39ba35e558023178ac1fa499f3f0fad5673b",
+    "visual_seed": 7296036052840589111,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_83_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b251550ca09c48c9819750b38c6a71f8cd7c58f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_83_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3264273228423333,
+              0.23901498625086695,
+              1.0501040507500257
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+            "gripper_z": 1.0504344023642955,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3211028571885439,
+              0.2339287150744278,
+              1.0504344023642955
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+              0.0053244656537893564,
+              0.005086271176439144,
+              -0.0003303516142698637
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+            "object_to_gripper_z": -0.0003303516142698637,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3264273228423333,
+              0.2145471388411939,
+              1.0501040507500257
+            ],
+            "finger_b": [
+              0.31406349254674126,
+              0.23901498625086695,
+              1.0501040507500257
+            ],
+            "finger_midpoint": [
+              0.32024540769453724,
+              0.22678106254603042,
+              1.0501040507500257
+            ],
+            "object_minus_finger_midpoint": [
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+              0.01223392370483653,
+              0.0
+            ],
+            "finger_gap": 0.027414227263252263,
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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": 0.011035011498469256,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048387706522833376,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6213420064525602,
+            "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",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": "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": [
+              0.3267848061619798,
+              0.2368194042633543,
+              1.2408033554135502
+            ],
+            "held_position": [
+              0.3325480499893424,
+              0.24139108372470766,
+              1.240344624965922
+            ],
+            "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": 0.007370594693413448,
+            "max_held_gripper_dist": 0.007371761055505874,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00045873044762823056,
+            "max_held_gripper_z_dist": 0.0005529626943663324,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08787474538666282,
+            "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": [
+              0.3325480499893424,
+              0.2157342578111202,
+              1.240344624965922
+            ],
+            "held_grasp_finger_b": [
+              0.3224990545900063,
+              0.24139108372470766,
+              1.240344624965922
+            ],
+            "held_grasp_midpoint": [
+              0.32752355228967434,
+              0.22856267076791392,
+              1.240344624965922
+            ],
+            "held_grasp_object_position": [
+              0.3325480499893424,
+              0.24139108372470766,
+              1.240344624965922
+            ],
+            "held_grasp_finger_gap": 0.02755458264057017,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024684264939627908,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08657745541723177,
+              -0.9960032264657007,
+              0.021952609944868248
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0039054931844313702,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03198807604482283,
+            "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": [
+              0.34055947299753303,
+              -0.3369582445695434,
+              0.8470196539268119
+            ],
+            "target_position": [
+              0.3323495145049934,
+              -0.33971722226172407,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008661141746627545,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18797644661009952,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196539268119,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550013942118206,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08568285372027977,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15645902764697098,
+            "release_required_pad_clearance": 0.05284142686013989,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7263121813242697,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f005310ee2a0931fb167399b7bdd34995eaa187a18cd224f9feb55b5717466c1",
+    "visual_seed": 6308671739445983331,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_84_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc541e2fe248439da3dc63b3de476fe2cf420e88
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_84_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3334186459566213,
+              0.2405030609199101,
+              1.0492074119487385
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+            "lift_margin": 0.1926208449355281,
+            "gripper_z": 1.0492573972821049,
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+            "gripper_position": [
+              0.32813505606076593,
+              0.23549712023406327,
+              1.0492573972821049
+            ],
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+              0.005283589895855367,
+              0.005005940685846838,
+              -4.998533336642019e-05
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+            "object_to_gripper_xy": 0.0072784451868377524,
+            "object_to_gripper_z": -4.998533336642019e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3334186459566213,
+              0.21597755922081607,
+              1.0492074119487385
+            ],
+            "finger_b": [
+              0.32128163445163654,
+              0.2405030609199101,
+              1.0492074119487385
+            ],
+            "finger_midpoint": [
+              0.3273501402041289,
+              0.2282403100703631,
+              1.0492074119487385
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060685057524924035,
+              0.012262750849547005,
+              0.0
+            ],
+            "finger_gap": 0.02736434325658843,
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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": 1.0957136218526438,
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+            "fingertip_min_top_clearance": 0.013951862971171592,
+            "object_projection_between_fingers": 0.8032777567208429,
+            "object_to_finger_line_xy": 0.010877889284470938,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048887614901874946,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.969921761066751,
+            "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",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "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": [
+              0.3338566634535858,
+              0.23836491686489966,
+              1.239462291870749
+            ],
+            "held_position": [
+              0.3395481248331521,
+              0.24290232007176316,
+              1.239285527623953
+            ],
+            "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": 0.007280934424625425,
+            "max_held_gripper_dist": 0.00728254867794714,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00017676424679602398,
+            "max_held_gripper_z_dist": 0.0002748979340576607,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08785611206967231,
+            "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": [
+              0.3395481248331521,
+              0.21727421095162647,
+              1.239285527623953
+            ],
+            "held_grasp_finger_b": [
+              0.32959064925697645,
+              0.24290232007176316,
+              1.239285527623953
+            ],
+            "held_grasp_midpoint": [
+              0.3345693870450643,
+              0.2300882655116948,
+              1.239285527623953
+            ],
+            "held_grasp_object_position": [
+              0.3395481248331521,
+              0.24290232007176316,
+              1.239285527623953
+            ],
+            "held_grasp_finger_gap": 0.02749456849859201,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02476836665561475,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07765649137894316,
+              -0.9966255860750699,
+              0.026587789062566973
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003983646628465402,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032042779021766075,
+            "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": [
+              0.33474225922747447,
+              -0.33722369427800486,
+              0.8470194844206442
+            ],
+            "target_position": [
+              0.3269447663363552,
+              -0.33960745717504665,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008153724359847363,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18633927812839374,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194844206442,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573548292948483,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0850256807422116,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15427686852835945,
+            "release_required_pad_clearance": 0.052512840371105804,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0969132570246979,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c9526cc71368d534bbce410848064a9293a684b7c5f0cd8a35f431528859e796",
+    "visual_seed": 6100524684931784631,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_85_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..62c571f963bb5fc6cc6a82f7e24db8fd554405a9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_85_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3268529159907589,
+              0.23860715964486406,
+              1.0484944776500456
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+            "lift_margin": 0.19190797024147987,
+            "gripper_z": 1.0490228833005213,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32143224494154926,
+              0.23357643758158847,
+              1.0490228833005213
+            ],
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+              0.005420671049209624,
+              0.0050307220632755945,
+              -0.0005284056504757384
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+            "object_to_gripper_xy": 0.00739539309987422,
+            "object_to_gripper_z": -0.0005284056504757384,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3268529159907589,
+              0.21394484677256462,
+              1.0484944776500456
+            ],
+            "finger_b": [
+              0.31472918395510574,
+              0.23860715964486406,
+              1.0484944776500456
+            ],
+            "finger_midpoint": [
+              0.3207910499729323,
+              0.22627600320871433,
+              1.0484944776500456
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060618660178266,
+              0.012331156436149737,
+              0.0
+            ],
+            "finger_gap": 0.027481167272943655,
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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": 1.0484944776500456,
+            "object_top_z": 1.0963729736993175,
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+            "fingertip_min_top_clearance": 0.01436354881478159,
+            "object_projection_between_fingers": 0.8053733504461922,
+            "object_to_finger_line_xy": 0.010880151839022308,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05019672785764949,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8175696009321087,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              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",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3268662433429008,
+              0.23685449765034822,
+              1.23799272967373
+            ],
+            "held_position": [
+              0.3326370549001784,
+              0.24146326527549783,
+              1.2373358169752398
+            ],
+            "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": 0.007414481731427609,
+            "max_held_gripper_dist": 0.007415839538686462,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0006569126984903306,
+            "max_held_gripper_z_dist": 0.0007529485962447513,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08824848907546204,
+            "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": [
+              0.3326370549001784,
+              0.21586891653381843,
+              1.2373358169752398
+            ],
+            "held_grasp_finger_b": [
+              0.3224308702478407,
+              0.24146326527549783,
+              1.2373358169752398
+            ],
+            "held_grasp_midpoint": [
+              0.3275339625740096,
+              0.22866609090465811,
+              1.2373358169752398
+            ],
+            "held_grasp_object_position": [
+              0.3326370549001784,
+              0.24146326527549783,
+              1.2373358169752398
+            ],
+            "held_grasp_finger_gap": 0.02755425362205118,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024841329050382634,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06605163257900255,
+              -0.996917892562797,
+              0.042330808187421964
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004281990705981345,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03210542528192979,
+            "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": [
+              0.33640757255690384,
+              -0.34045820507381164,
+              0.8470195772793924
+            ],
+            "target_position": [
+              0.3299295925537476,
+              -0.34207467787647344,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006676616601470953,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1855255264098942,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195772793924,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547630839608686,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08583757832941234,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15403977250509704,
+            "release_required_pad_clearance": 0.05291878916470617,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8749092366654648,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5c784ff9251c3fafee7ffa0d75b8f04045b83631d89fa7b8fbb03b604ffc1977",
+    "visual_seed": 4332995984561767163,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_86_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..23a8fa401f70ee3f51b50c42e00284728a030afb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_86_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.23479930036371727,
+              1.0485804426899024
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+            "current_z": 1.0485804426899024,
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+            "lift_margin": 0.191993935281337,
+            "gripper_z": 1.0487052062595728,
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+            "gripper_position": [
+              0.3281193459157864,
+              0.2297913332704064,
+              1.0487052062595728
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+              0.005308952800497535,
+              0.005007967093310861,
+              -0.00012476356967039415
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+            "object_to_gripper_xy": 0.007298267893520699,
+            "object_to_gripper_z": -0.00012476356967039415,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.33342829871628393,
+              0.2102346143551019,
+              1.0485804426899024
+            ],
+            "finger_b": [
+              0.32132016536411667,
+              0.23479930036371727,
+              1.0485804426899024
+            ],
+            "finger_midpoint": [
+              0.32737423204020033,
+              0.22251695735940957,
+              1.0485804426899024
+            ],
+            "object_minus_finger_midpoint": [
+              0.006054066676083603,
+              0.012282343004307694,
+              0.0
+            ],
+            "finger_gap": 0.02738668822577364,
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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": 1.0485804426899024,
+            "object_top_z": 1.094758456748344,
+            "finger_top_clearance": 0.046178014058441574,
+            "fingertip_min_top_clearance": 0.013853404217532473,
+            "object_projection_between_fingers": 0.8045321413612104,
+            "object_to_finger_line_xy": 0.01086047686724376,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04848666512152554,
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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",
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+                "geometry",
+                "gripper",
+                "gripper_center",
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+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
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+                "left_inner_finger",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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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,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "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": [
+              0.33376904097292914,
+              0.2327150904648197,
+              1.2401346280153196
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+            "held_position": [
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+              0.23726326237072662,
+              1.2399006740764207
+            ],
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0072981635419651055,
+            "max_held_gripper_dist": 0.0073006399584447336,
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+            "held_gripper_z_dist": 0.00023395393889891203,
+            "max_held_gripper_z_dist": 0.00032688200263897293,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08794165455098987,
+            "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": [
+              0.33947189893662255,
+              0.2116454467258494,
+              1.2399006740764207
+            ],
+            "held_grasp_finger_b": [
+              0.32942899024758726,
+              0.23726326237072662,
+              1.2399006740764207
+            ],
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+              0.33445044459210493,
+              0.224454354548288,
+              1.2399006740764207
+            ],
+            "held_grasp_object_position": [
+              0.33947189893662255,
+              0.23726326237072662,
+              1.2399006740764207
+            ],
+            "held_grasp_finger_gap": 0.02751604065542891,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02474369897244906,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07851111391744646,
+              -0.9966571418317657,
+              0.022595278869212868
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00401109118777035,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032039895531438885,
+            "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": [
+              0.3360187820979215,
+              -0.3431562002335753,
+              0.8470195108904373
+            ],
+            "target_position": [
+              0.3272652931716057,
+              -0.3460551926894809,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009221047968779436,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1868700695699723,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195108904373,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558997786927188,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08504186009742364,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15535910843714573,
+            "release_required_pad_clearance": 0.05252093004871182,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1119052652534662,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "76e581e096a64f3821ee7e31465ea7c51d9a0a889f86dca5ed20f3a1a4ff726c",
+    "visual_seed": 5783778145028327932,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_87_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c394e4bf97d107121700ba9e0753c891a84da77d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_87_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3267220738655841,
+              0.23896383445536482,
+              1.0476989930113016
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+            "current_z": 1.0476989930113016,
+            "required_z": 0.8565865670132105,
+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.1911124259980912,
+            "gripper_z": 1.0481154642578767,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32125033554867466,
+              0.23391777624643345,
+              1.0481154642578767
+            ],
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+              0.005471738316909447,
+              0.005046058208931364,
+              -0.0004164712465750675
+            ],
+            "object_to_gripper_xy": 0.007443293871442846,
+            "object_to_gripper_z": -0.0004164712465750675,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3267220738655841,
+              0.21422893652202243,
+              1.0476989930113016
+            ],
+            "finger_b": [
+              0.31462509117327536,
+              0.23896383445536482,
+              1.0476989930113016
+            ],
+            "finger_midpoint": [
+              0.32067358251942973,
+              0.22659638548869362,
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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",
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+                "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",
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+                "wrist_3_joint"
+              ],
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+                "base_link",
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+            },
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+            "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": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "skill": "pick",
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+        "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": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32678445669977485,
+              0.23717995514601933,
+              1.2405104857770213
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+              0.3326089075527842,
+              0.24180228457677522,
+              1.2399907587980508
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007453876390055268,
+            "max_held_gripper_dist": 0.00745534898654518,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0005197269789705139,
+            "max_held_gripper_z_dist": 0.0006158186093399021,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08786169877186797,
+            "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": [
+              0.3326089075527842,
+              0.21615557967477894,
+              1.2399907587980508
+            ],
+            "held_grasp_finger_b": [
+              0.3223502438186808,
+              0.24180228457677522,
+              1.2399907587980508
+            ],
+            "held_grasp_midpoint": [
+              0.3274795756857325,
+              0.22897893212577708,
+              1.2399907587980508
+            ],
+            "held_grasp_object_position": [
+              0.3326089075527842,
+              0.24180228457677522,
+              1.2399907587980508
+            ],
+            "held_grasp_finger_gap": 0.02762233976221942,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024840379984737797,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07092225597574447,
+              -0.9969291438319166,
+              0.033201141333890856
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004229052426510365,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03205246739812271,
+            "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": [
+              0.33413011849585617,
+              -0.33698544331514824,
+              0.84701902779606
+            ],
+            "target_position": [
+              0.32588350191372045,
+              -0.3396961565890655,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008680705703233286,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1873628740427102,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.84701902779606,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572263407787243,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852825750892705,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1554419843619744,
+            "release_required_pad_clearance": 0.05264128754463525,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.34034600274266474,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c6b08834df43c56fb154c958be05832f316b9a35f481fc1caa48b522ac5debcb",
+    "visual_seed": 7258170017424185729,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_88_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..943c6072b63d91e4322117bf3ef1bc69eaddcb1f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_88_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.33263518498382444,
+              0.23478221750684547,
+              1.0465402274801567
+            ],
+            "current_z": 1.0465402274801567,
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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": [],
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+            "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": []
+          }
+        },
+        "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": [
+              0.3323105987667856,
+              0.23286552813123426,
+              1.23785454201858
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+            "held_position": [
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+              0.23766858176363637,
+              1.2369012242586757
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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": 0.007877650632855143,
+            "max_held_gripper_dist": 0.007879616759947973,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009533177599043707,
+            "max_held_gripper_z_dist": 0.0010538580764580807,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08792521400806494,
+            "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": [
+              0.33848143667960123,
+              0.21187165008772002,
+              1.2369012242586757
+            ],
+            "held_grasp_finger_b": [
+              0.3278464879020665,
+              0.23766858176363637,
+              1.2369012242586757
+            ],
+            "held_grasp_midpoint": [
+              0.3331639622908339,
+              0.2247701159256782,
+              1.2369012242586757
+            ],
+            "held_grasp_object_position": [
+              0.33848143667960123,
+              0.23766858176363637,
+              1.2369012242586757
+            ],
+            "held_grasp_finger_gap": 0.02790311486900134,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025291678184881063,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.044377859913220026,
+              -0.9987092564177832,
+              0.02470681474737845
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004750726234495843,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03208242960633653,
+            "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": [
+              0.3325652389099429,
+              -0.33694800040777007,
+              0.8470196617591214
+            ],
+            "target_position": [
+              0.3246032263270773,
+              -0.3395190907494756,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008366848266517197,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18603672072169355,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196617591214,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575905802798612,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08671778337280199,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15400644192554688,
+            "release_required_pad_clearance": 0.053358891686401,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7332023764857383,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b19b861c833aa31eb59280a9f47bacf44f6d2fd5fee5d8e60e56557b3bd0c573",
+    "visual_seed": 7916047125522337767,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_89_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5777a2926ae6e7923e5f6285c70fc8bb0111e1ab
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_89_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+            "required_stable_lift_frames": 5
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+          "failure_messages": {},
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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
+            },
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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
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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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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "release_min_pad_clearance": 0.1532965327292533,
+            "release_required_pad_clearance": 0.05272552965689252,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5035765802808595,
+            "object_max_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"
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+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
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+      "physical_semantics": {
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 89,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cc3499bdc9826489a30a7438e579c284c6a55e8f0fa4508d035dc462c7725643",
+    "visual_seed": 8580039587218690606,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_8_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..44ae6da53d19e37e370123310932aedb9188336b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_8_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+              1.048983653074595
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+              0.22570918050245725,
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+            "stable_success_frames": 224,
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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": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+            },
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.007085377966672047,
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+            "held_object_xy_range": 0.08799758951450426,
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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": {
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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": [],
+              "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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+      "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,
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+            "release_required_pad_clearance": 0.05300579601026621,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 1.044541190104606,
+            "object_max_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"
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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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "da371f6b5026cf629e74f17d1d369230b88d336ed2a9dc8bdb584eacda75e7a1",
+    "visual_seed": 824266338485672734,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_90_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b0fcbfee847bd6632eb0127e8869f2e91546df3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_90_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              1.0495182524828268
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+              0.2327707606720067,
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+              0.0050667919456676425,
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+            "object_to_gripper_z": -0.000365789459294108,
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+              0.21325182758011782,
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+              0.22554469009889608,
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+              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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+              "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": {
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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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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "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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+              0.2355876588583172,
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+              0.2401704423213807,
+              1.2391433461410382
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
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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,
+            "held_grasp_geometry_required": true,
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+              0.22733318627170768,
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+              0.2401704423213807,
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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": 0.024738002432108358,
+            "held_grasp_world_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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+              0.046701512201871916
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+            "held_grasp_object_to_finger_line_xy": 0.00400966418515536,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "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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+    },
+    {
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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_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08498443048027036,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1536726119115582,
+            "release_required_pad_clearance": 0.052492215240135184,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.05593970434686445,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a3fc273d5f712423087a13f8fe99a1f32c6dd365f600dfa7821fded7d569cec2",
+    "visual_seed": 8250890956822924840,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_91_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e672584e6fad982e154f26c67a6c0e6b13b3ae98
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_91_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "target": "beaker_b",
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+              1.0496297615058048
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+            "lift_margin": 0.193043313701884,
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+              0.2345432384610892,
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+              1.0496297615058048
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+              0.2272557888685235,
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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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+              "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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+                  "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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+              0.23783863012516376,
+              1.2416529733792465
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+              0.2424694388354351,
+              1.241155667040024
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+            "held_shake_count": 5,
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+            "max_held_gripper_dist": 0.00746933058383844,
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+            "max_held_gripper_z_dist": 0.000595074073765467,
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+            "held_object_xy_range": 0.08786882570362747,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.22964590929622408,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024873677367751403,
+            "held_grasp_world_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": 0.004260872453958916,
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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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+              "failed_keys": []
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+            "failed_keys": []
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+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "release_min_pad_clearance": 0.1571148638526965,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0286850655546156,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 159,
+            "max_placed_release_frames": 159
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 91,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "43cf0875519b8c1fee101b4d87fedc5c0c665e478dc8a4a60979ac44161d1892",
+    "visual_seed": 5362580027509954831,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_92_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cbab48088c274c10be18436ef615b1e6d0e7ead
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_92_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.24080699759261864,
+              1.0482012169569348
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+            "gripper_z": 1.0482924496041242,
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+            "gripper_position": [
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+              0.23572527735536425,
+              1.0482924496041242
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+              0.005081720237254395,
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+            "object_to_gripper_z": -9.123264718935431e-05,
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+              0.21636538177751116,
+              1.0482012169569348
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+              1.0482012169569348
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+              0.2285861896850649,
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+              0.012220807907553755,
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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": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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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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+              0.2374029069153277,
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+              0.24185261091707963,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.007369675870162856,
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+            "max_held_gripper_z_dist": 0.0003239832343444604,
+            "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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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024940654094411464,
+            "held_grasp_world_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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+              0.03252602257620041
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003450608864488269,
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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": []
+          }
+        },
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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": {
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+            "min_z_margin": 0.2,
+            "require_object_upright": true,
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+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542401940130274,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08627823509068076,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1555117423780904,
+            "release_required_pad_clearance": 0.053139117545340384,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3038418998203918,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 92,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b3a127f82b503eb5e858c19e2fe33d1b44b61742b0ad9c0858b6968a6466ea6f",
+    "visual_seed": 8528367622633030819,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_93_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..49bf39ce205c67890ae1f08f81a306732efba16b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_93_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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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+              0.24291504347996873,
+              1.0487582963694257
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+            "lift_margin": 0.19217161014692585,
+            "gripper_z": 1.0489941537709258,
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+            "gripper_position": [
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+              0.2378393520223449,
+              1.0489941537709258
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+              0.005075691457623821,
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+            "object_to_gripper_z": -0.0002358574015000059,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.21826498569729502,
+              1.0487582963694257
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+            "finger_b": [
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+              1.0487582963694257
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+            "finger_midpoint": [
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+              0.23059001458863188,
+              1.0487582963694257
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+              0.012325028891336853,
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
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+                }
+              ],
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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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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+              0.24109329466584922,
+              1.237000499388034
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+              0.24571791712319122,
+              1.236622652220887
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007441505284568504,
+            "max_held_gripper_dist": 0.00744397169264845,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00037784716714694966,
+            "max_held_gripper_z_dist": 0.0004793088933370271,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0881024167174474,
+            "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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+              0.22006810725861906,
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+              0.23289301219090514,
+              1.236622652220887
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+            "held_grasp_object_position": [
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+              0.24571791712319122,
+              1.236622652220887
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+            "held_grasp_finger_gap": 0.02758578622495468,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024843257372171107,
+            "held_grasp_world_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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+              -0.9970600539335474,
+              0.026161175407966253
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004153129657100754,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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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+        "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": [
+              0.3413370242732928,
+              -0.3406981078942774,
+              0.8470197560012931
+            ],
+            "target_position": [
+              0.33253731363421746,
+              -0.34381542662724857,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009335554799495802,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18805666895727044,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197560012931,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576133706368024,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08603492951502421,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1560127697058839,
+            "release_required_pad_clearance": 0.05301746475751211,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0660496852028292,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 93,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d071117e809563706bb9240f8cae7fd2f3c80adc84e98c523ff5d67f85bf95a9",
+    "visual_seed": 2422398666132343074,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_94_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..117d916c3accf7872e0bceffa645faf934dad557
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_94_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3274018588202807,
+              0.2425738658807544,
+              1.0502588927531569
+            ],
+            "current_z": 1.0502588927531569,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1936723853445913,
+            "gripper_z": 1.0505067943420872,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3219106688995893,
+              0.23747282694384012,
+              1.0505067943420872
+            ],
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+              0.005491189920691419,
+              0.005101038936914298,
+              -0.00024790158893028824
+            ],
+            "object_to_gripper_xy": 0.007494915942225022,
+            "object_to_gripper_z": -0.00024790158893028824,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3274018588202807,
+              0.2178703637305417,
+              1.0502588927531569
+            ],
+            "finger_b": [
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+              0.2425738658807544,
+              1.0502588927531569
+            ],
+            "finger_midpoint": [
+              0.3212851191549262,
+              0.23022211480564805,
+              1.0502588927531569
+            ],
+            "object_minus_finger_midpoint": [
+              0.006116739665354531,
+              0.01235175107510636,
+              0.0
+            ],
+            "finger_gap": 0.027566665286545795,
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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": 1.0959652623121512,
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+            "fingertip_min_top_clearance": 0.013711910867698263,
+            "object_projection_between_fingers": 0.8030610949848791,
+            "object_to_finger_line_xy": 0.010962870547067922,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04809823509984708,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2714798187039006,
+            "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,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "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": [
+              0.32758664352290967,
+              0.24052612287940806,
+              1.241030264153859
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+            "held_position": [
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+              0.24516591153876507,
+              1.2406616898344627
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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": 0.007498400723417363,
+            "max_held_gripper_dist": 0.00750151998154448,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0003685743193964086,
+            "max_held_gripper_z_dist": 0.0004691689290041712,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08786801979121439,
+            "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": [
+              0.33346563387640826,
+              0.2194574797206959,
+              1.2406616898344627
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+              0.24516591153876507,
+              1.2406616898344627
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+            "held_grasp_midpoint": [
+              0.3283626266822484,
+              0.23231169562973047,
+              1.2406616898344627
+            ],
+            "held_grasp_object_position": [
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+              0.24516591153876507,
+              1.2406616898344627
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+            "held_grasp_finger_gap": 0.027660191543785448,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024840286329103796,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07722891909854526,
+              -0.9968902798110363,
+              0.015667293102014535
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004100150507604034,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03199188234174475,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3351391183403088,
+              -0.33828313743912863,
+              0.8470197389686382
+            ],
+            "target_position": [
+              0.32620671431538395,
+              -0.34124849986468253,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009411759451844297,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18805139490684944,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197389686382,
+            "min_z": 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_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15697381706406222,
+            "release_required_pad_clearance": 0.05253094818436359,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1312210517152918,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 94,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cf0292af5c7a6451d91487a49d5d643d6a8f57ff32792d09c7e92a2c81e154aa",
+    "visual_seed": 457755176886531483,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_95_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3e8dead0edd3c952504a819a37be3f17cfd33e7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_95_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+          "skill": "pick",
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+              0.23113203375904517,
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+            "stable_success_frames": 224,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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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+    },
+    {
+      "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_gripper_z_dist": 8.395740526512263e-05,
+            "max_held_gripper_z_dist": 0.00018752130995935978,
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+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew": 0.024992966946991966,
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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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+              -0.9974420531495196,
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004308209606906789,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": [
+              0.3398004486704443,
+              -0.33591038558390796,
+              0.8470192415109081
+            ],
+            "target_position": [
+              0.3320890289542497,
+              -0.3383551104345535,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008089664618182807,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18920339229684102,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192415109081,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575949813993416,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08643493087333524,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15710577121812855,
+            "release_required_pad_clearance": 0.053217465436667624,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.454784805028504,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 95,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5c941b62d2750fc274a70e847f9ae471f90f312b5970e89770cf5bf4c2d8ee9f",
+    "visual_seed": 3121697074294945129,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_96_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c73e0faa17f99f4f08aa41083d9256a6d303cf9c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_96_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
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+              0.23943284393266698,
+              1.0504560046424993
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+              0.23433659931602394,
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+              0.005096244616643042,
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+              0.32842235882635906,
+              0.21497896619358794,
+              1.0504560046424993
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+            "finger_b": [
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+              0.23943284393266698,
+              1.0504560046424993
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+            "finger_midpoint": [
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+              0.22720590506312746,
+              1.0504560046424993
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04873706971338969,
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+              0.0,
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+              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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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.23645847504904702,
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+              0.24094405677754868,
+              1.2425463585144743
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007407769302999538,
+            "max_held_gripper_dist": 0.007408517783421545,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0003288171114248506,
+            "max_held_gripper_z_dist": 0.0004223817051995926,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08809307955011209,
+            "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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+              0.2151119362361452,
+              1.2425463585144743
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+              0.22802799650684694,
+              1.2425463585144743
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+            "held_grasp_object_position": [
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+              1.2425463585144743
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+            "held_grasp_finger_gap": 0.027621308010599137,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02469727832815148,
+            "held_grasp_world_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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+              -0.9944445461875507,
+              0.028362491746884322
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035748153932940556,
+            "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": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": [
+              0.33487375030555877,
+              -0.34523116084723693,
+              0.8470193436801732
+            ],
+            "target_position": [
+              0.3271140401339423,
+              -0.3471186193616861,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00798596278423928,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18836585751476564,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193436801732,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518419686511307,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0866000710096314,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1575123232852444,
+            "release_required_pad_clearance": 0.0533000355048157,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6178170239258576,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 96,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c9e5aca5c9ed8d443003630227ba73c0a8a6c5abacd014a8ea67efb3a826e018",
+    "visual_seed": 1033514367218626441,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_98_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..43128bb3c9a181260117aa2cafeec4ee67b749f6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_98_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "object_position": [
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+              0.24060524803484165,
+              1.0477380684478879
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+            "gripper_z": 1.0483644513709658,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2353687988792123,
+              1.0483644513709658
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+              0.005926266482913722,
+              0.005236449155629347,
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+            "object_to_gripper_z": -0.0006263829230779283,
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+              0.3355304003105981,
+              0.2155397210577761,
+              1.0477380684478879
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+            "finger_b": [
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+              0.24060524803484165,
+              1.0477380684478879
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+              0.22807248454630888,
+              1.0477380684478879
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+              0.012532763488532772,
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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": 1.2194231481122288,
+            "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": {
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+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "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": [
+              0.3351280228435301,
+              0.23865216757836816,
+              1.2390327117929394
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+            "held_position": [
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+              0.24348399574525914,
+              1.2382903504900324
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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": 0.007932856986873878,
+            "max_held_gripper_dist": 0.007934815266832904,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0007423613029069465,
+            "max_held_gripper_z_dist": 0.0008514819571039389,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08842236381759808,
+            "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": [
+              0.3413756268831423,
+              0.2176580784136976,
+              1.2382903504900324
+            ],
+            "held_grasp_finger_b": [
+              0.33066345484075554,
+              0.24348399574525914,
+              1.2382903504900324
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+            "held_grasp_midpoint": [
+              0.33601954086194896,
+              0.23057103707947837,
+              1.2382903504900324
+            ],
+            "held_grasp_object_position": [
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+              0.24348399574525914,
+              1.2382903504900324
+            ],
+            "held_grasp_finger_gap": 0.027959410506703163,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025319542435115583,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.044512773731024455,
+              -0.9988559397222544,
+              0.017476402843340396
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004781412666393083,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032063625257962414,
+            "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": [
+              0.3421670554993041,
+              -0.3373654138186306,
+              0.8470195709319346
+            ],
+            "target_position": [
+              0.33227699177102893,
+              -0.3412071682930469,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.010610015927935352,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18853841602518595,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195709319346,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564808375861398,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08688038634023419,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15692640972204566,
+            "release_required_pad_clearance": 0.0534401931701171,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8937609507518571,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 98,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8c573fe5ea034017f05ebf85009cb41fd3eeb68b125cc5492b8d9220eedf4b48",
+    "visual_seed": 2368540149042681191,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_99_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e0fd8249035300f6eaf3f5dc8c42bd17a278371
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_99_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.33213765569725073,
+              0.24355143076245295,
+              1.0498024172890579
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+            "gripper_z": 1.050092206692345,
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+            "gripper_position": [
+              0.3265059991813041,
+              0.23829664613647028,
+              1.050092206692345
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+              0.005631656515946659,
+              0.005254784625982667,
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+            "object_to_gripper_z": -0.0002897894032871662,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.33213765569725073,
+              0.21888617140748948,
+              1.0498024172890579
+            ],
+            "finger_b": [
+              0.319514785515183,
+              0.24355143076245295,
+              1.0498024172890579
+            ],
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+              0.32582622060621685,
+              0.23121880108497123,
+              1.0498024172890579
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012332629677481721,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.011236852347920444,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_tilt_deg": 0.6096264375499457,
+            "object_max_tilt_deg": 15.0,
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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": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "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": [
+              0.3321308879444931,
+              0.241605583239836,
+              1.2406870174429994
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+            "held_position": [
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+              0.24635496904798915,
+              1.240285713078163
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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": 0.007706762436060534,
+            "max_held_gripper_dist": 0.007711543161061319,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00040130436483631904,
+            "max_held_gripper_z_dist": 0.0005071094969453238,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0883390141512077,
+            "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": [
+              0.33818699861867585,
+              0.2206087663184182,
+              1.240285713078163
+            ],
+            "held_grasp_finger_b": [
+              0.32767382185929633,
+              0.24635496904798915,
+              1.240285713078163
+            ],
+            "held_grasp_midpoint": [
+              0.33293041023898606,
+              0.23348186768320367,
+              1.240285713078163
+            ],
+            "held_grasp_object_position": [
+              0.33818699861867585,
+              0.24635496904798915,
+              1.240285713078163
+            ],
+            "held_grasp_finger_gap": 0.027809959377282888,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024856906064692035,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07692460836639242,
+              -0.9968704254828054,
+              0.018219753714249554
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004257423772047013,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03196304992856283,
+            "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": [
+              0.33638446151392537,
+              -0.33719339518942526,
+              0.8470196685407347
+            ],
+            "target_position": [
+              0.32634763742011835,
+              -0.3409010249673745,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.010699736279944524,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18928226418039676,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196685407347,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590743599520698,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08673936296969452,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1570276291421151,
+            "release_required_pad_clearance": 0.05336968148484726,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7547453033307983,
+            "object_max_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
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 99,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "19feae6a35fd85150c8a7c2ae0d062a8e9ee75fa3083dbfc185d77e46378ccee",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9617448e98011039da47cb5314bc5bcc1f727645acfa8ecea9b005999cee4203",
+    "visual_seed": 5767180820059479488,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e1e7ece31fa980733d694aeef058433262bc977133f7c40554135bbca20ce4c3"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_9_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e85e29226144a5aa21c7615b17412048768dc03a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00002/results/episode_9_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3295095293905329,
+              0.23956536963185743,
+              1.0487021442585545
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+            "current_z": 1.0487021442585545,
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+            "gripper_z": 1.048872073897217,
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+            "gripper_position": [
+              0.32417820202845093,
+              0.23459706829657234,
+              1.048872073897217
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+              0.005331327362081972,
+              0.004968301335285086,
+              -0.00016992963866258037
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+            "object_to_gripper_xy": 0.007287459749451759,
+            "object_to_gripper_z": -0.00016992963866258037,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3295095293905329,
+              0.21492710412853178,
+              1.0487021442585545
+            ],
+            "finger_b": [
+              0.31752835772575005,
+              0.23956536963185743,
+              1.0487021442585545
+            ],
+            "finger_midpoint": [
+              0.3235189435581415,
+              0.2272462368801946,
+              1.0487021442585545
+            ],
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+              0.005990585832391426,
+              0.012319132751662826,
+              0.0
+            ],
+            "finger_gap": 0.027396945112062445,
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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": 0.808753144942783,
+            "object_to_finger_line_xy": 0.010774751977287892,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04944926161919587,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2709268773582671,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
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+}
\ No newline at end of file
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+}
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